Returns a Cartesian Location equal to the current position and orientation of a RefFrame Object ignoring any further reference frames.
…refframe_object.PosWrtRef(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
In general, this method returns a Cartesian Location whose value is equal to the current position and orientation of the reference frame without taking into account any additional linked reference frames. See Table 19-75.
| RefFrame Type | refframe_object.PosWrtRef |
|---|---|
|
Basic |
Returns the contents of refframe_object.Loc.PosWrtRef. |
|
Pallet |
Returns the current pallet position and orientation based upon the object properties, e.g. nominal location, current row, column and layer numbers, without taking into consideration any linked reference frames. |
|
Conveyor |
Returns the "Nominal" transformation for the conveyor as defined in the associated conveyor robot (DataID 16060). The X-axis of is value points along the direction of travel of the belt and the XYZ position of this value is typically defined approximately at the center of travel for the belt. The nominal value for a conveyor is stored in the conveyor robot module to permit this transformation to be taught once, automatically loaded when the controller is restarted, and referenced by multiple conveyor reference frames. |
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.PosWrtRef(dum).X) ' Displays 100
Console.Writeline(ref1.PosWrtRef(dum).Y) ' Displays 90
Console.Writeline(ref1.PosWrtRef(dum).Z) ' Displays -80
See Also