TRANS transformation function TRANS transformation function Syntax TRANS ( X_value, Y_value, Z_value, y_value, p_value, r_value ) Function Return a transformation value computed from the given X, Y, Z position displacements and y, p, r orientation rotations. Parameters X_value Optional expressions for the X, Y, and Z displacement components, respectively. Y_value Z_value y_value Optional expressions for the yaw, pitch, and roll orientation components, respectively. p_value r_value NOTE: If any parameter is omitted, its value is taken to be zero.
Details The input parameter values are used to compute a transformation value that can be assigned to a location variable or used in a compound transformation or motion request. Examples If r s the radius of a circle and angle is the angle of rotation about the circle, then the transformation: TRANS(r*COS(angle), r*SIN(angle), 0, 0, 0, 0) yields points on that circle. If frame is a transformation defining the position of the center of the circle and the plane in which it lies, the following program segment moves the robot tool point around the circle in steps of 1 degree.
FOR angle = 0 TO 360-1 MOVE frame:TRANS(r*COS(angle), r*SIN(angle), 0, 0, 0, 0) END eV+Language Reference Guide, v2.x, 18319-000 Rev A Page 543