Returns a Cartesian Location equal to the current total position and orientation for any type of RefFrame Object.
… refframe_object.Pos( location_object )
Prerequisites
None
Parameters
location_object
An optional Cartesian Location Object or a method or property that returns a Cartesian Location Object value. This parameter is not currently utilized but is included to support planned future reference frame types.
Remarks
For any type of reference frame object, this method returns a Cartesian Location whose value is equal to the current (instantaneous) total position and orientation of the frame taking into account any additional linked reference frames. In the case of a “basic” reference frame, the current location is equal to the contents of refframe_object.Loc.Pos. In the case of a dynamic reference frame, such as a pallet, the current total position and orientation is computed based upon the object properties, e.g. nominal location, current row, column and layer numbers. In the case of a conveyor reference frame, the instantaneous position of the conveyor belt is computed and returned. For a conveyor reference frame, the X-axis of this value points along the direction of travel for the belt.
This method returns the reference frame’s total position and orientation that is equivalent to the value used to compute the total position and orientation of a Cartesian Location that is defined with respect to the reference frame. For example, if a Cartesian Location, loc1, has its RefFrame pointer set equal to a reference frame, ref1, then loc1.Pos is equal to:
ref1.Pos(dummy).Mul(loc1.PosWrtRef)
Examples
Dim ref1 As New RefFrame ' Also allocates Loc
Dim dum As New Location
ref1.Loc.XYZ(100,90,-80,0,0,45) ' Define base frame
Console.Writeline(ref1.Pos(dum).X) ' Displays 100
Console.Writeline(ref1.Pos(dum).Y) ' Displays 90
Console.Writeline(ref1.Pos(dum).Z) ' Displays -80
See Also