AglToPls Function

Converts robot angles to pulses.

Syntax
AglToPls( j1, j2, j3, j4 [, j5, j6 ] [, j7 ] [, j8, j9 ] )

Parameters

j1 - j6

Specify the angle of the joint with a real number value.

j7

Specify the angle of the joint 7 with a real number value. For the Joint type 7-axis robot.

j8

Specify the angle of the additional axis S joint with a real number value.

j9

Specify the angle of the additional axis T joint with a real number value.

Return Values
A robot point whose location is determined by joint angles converted to pulses.

Description
Use AglToPls to create a point from joint angles.

Note

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Assignment to point can cause part of the joint position to be lost. In certain cases, when the result of AglToPls is assigned to a point data variable, the arm moves to a joint position that is different from the joint position specified by AglToPls. In the example below, P1 moves to joint position (0, 0, 0, 0, 0, 90).

P1 = AglToPls(0, 0, 0, 90, 0, 0)
Go P1 ' moves to AglToPls(0, 0, 0, 0, 0, 90) joint position

Similarly, when the AglToPls function is used as a parameter in a CP motion command, the arm may move to a different joint position from the joint position specified by AglToPls. In the example below, the target moves to joint position (0, 0, 0, 0, 0, 90).

Move AglToPls(0, 0, 0, 90, 0, 0)

When using the AglToPls function as a parameter in a PTP motion command, this problem does not occur.

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See Also
Agl, JA, Pls

AglToPls Function Example

Go AglToPls(0, 0, 0, 90, 0, 0)