Basic Characteristics RAPID

pose Coordinate transformations
Description
Components
Example
Structure
Pose is used to change from one coordinate system to another.
Data of the type pose describes how a coordinate system is displaced and rotated
around another coordinate system. The data can, for example, describe how the tool
coordinate system is located and oriented in relation to the wrist coordinate system.
trans (translation) Data type: pos
The displacement in position (x, y and z) of the coordinate system.
rot (rotation) Data type: orient
The rotation of the coordinate system.
VAR pose frame1;
.
frame1.trans := [50, 0, 40];
frame1.rot := [1, 0, 0, 0];
The frame1 coordinate transformation is assigned a value that corresponds to a
displacement in position, where X=50 mm, Y=0 mm, Z=40 mm; there is, however,
no rotation.
Related information
Described in:
What is a Quaternion? Data Types - orient
RAPID Reference Manual 7-pose-1