#PPOINT precision- point function #PPOINT precision- point function Syntax #PPOINT ( j1_value, j2_value, j3_value, j4_value, j5_value, j6_value, j7_value, j8_value, j9_value, j10_value, j11_value, j12_value ) Function Return a precision-point value composed from the given components. Usage Considerations The #PPOINT function name is considered to be a precision-point name. Thus, the # character must precede all uses of the function. Parameters j1_value Optional real-valued expressions for the respective robot joint positions. (If more values are specified than the number of robot joints, the extra values are ignored.) j2_value j3_value ...
j12_value Details Returns a precision-point value composed from the given components, which are the positions of the first through last robot joints, respectively. A zero value is assumed for any parameter that is omitted. Examples Assume that you want to perform a coordinated motion of joints 2 and 3 of a robot with 4 joints, starting from its current location. The following program segment performs such a motion: HERE #ref ;Define current location DECOMPOSE x[] = #ref ;Fill array with components ;Move to new precision point defined with modified components MOVE #PPOINT(x[0], x[1]+a, x[2]-a/2, x[3]) eV+Language Reference Guide, v2.x, 18319-000 Rev A Page 406