DiffToolOrientation Function
Returns the angle between the coordinate axes of Tool coordinate systems in order to show difference between Tool orientations of two specified points.
Syntax
DiffToolOrientation (pointData1, pointData2 , axisNumber)
Parameters
- pointData1
- Specify the first point data.
- pointData2
- Specify the second point data.
- axisNumber
- Specify the coordinate axis of Tool coordinate system.
Constant Value COORD_X_PLUS 1: +X axis COORD_Y_PLUS 2: +Y axis COORD_Z_PLUS 3: +Z axis COORD_ALL 4: Airbitrary axis
Return Values
Angle (real value, from 0 to 180 degrees)
Description
Returns the angle (real value, from 0 to 180 degrees) between the specified coordinate axes of the Tool coordinate systems which indicates the difference between Tool orientations of two specified points. The results are not affected by the order of parameters, pointData1 and pointData2. The results are also not affected by positional relation (coordinate values of X, Y, and Z) between the origin points of the two points.
Returns a rotation amount around an arbitrary axis when COORD_ALL is specified. An arbitrary axis refers to a hypothetical axis (a straight line) around which the robot can move in a single rotation when two orientations are provided (U, V, W). This function is used to find the overall angle of rotation without limiting rotation to each axis.
Notes
About the Controllers to use
COORD_ALL cannot be specified as the axis number for T/VT series.
DiffToolOrientation Function Example
'Displays the angle between Tool coordinate Z axes of Point 1 and 2.
Print DiffToolOrientation(P1, P2, COORD_Z_PLUS)