SOLVE.TRANS program instruction SOLVE.TRANS program instruction Syntax SOLVE.TRANS transform, error = joints[ index ] Function Compute the transformation equivalent to a given set of joint positions for the current robot. Usage Considerations Since the computation performed by this instruction is a function of the geometry of the robot (link dimensions, number of axes, tool offsets, base offsets), robots with different geometric parameters yield different results. In fact, since robots of the same general type may differ slightly in their dimensions, this instruction may return slightly different results when executed on two different robot systems of the same type.
The SOLVE.TRANS instruction refers to the robot selected by the task executing the instruction. If the eV+ system is not configured to control a robot, executing the SOLVE.TRANS instruction does not generate an error because of the absence of a robot. However, the information returned may not be meaningful. Parameters transform Transformation variable or transformation array element in which the result is stored. error Real variable that is set to a eV+ error code if a computational error occurred during processing of the instruction. This variable is set to 0 if no error occurs.
(The only error that is currently reported is arithmetic overflow [-409], so this parameter can be considered as returning a TRUE or FALSE value.) joints Real-valued array that contains the joint positions that are to be converted to an equivalent transformation. The first specified element of the array must contain the position for joint #1, the second element must contain the value for joint #2, etc. For rotating joints, the joint positions are assumed to have units of degrees. For translational joints, the joint positions are assumed to have units of millimeters. index Optional integer value that identifies the array element that contains the position for joint #1.
If no index is specified, element zero must contain the position for joint #1. eV+Language Reference Guide, v2.x, 18319-000 Rev A Page 489