Basic Characteristics RAPID

ORobT Removes a program displacement from a position
Example
ORobT (Object Robot Target) is used to transform a robot position from the program
displacement coordinate system to the object coordinate system and/or to remove an
offset for the external axes.
VAR robtarget p10;
VAR robtarget p11;
p10 := CRobT();
p11 := ORobT(p10);
The current positions of the robot and the external axes are stored in p10 and p11.
The values stored in p10 are related to the ProgDisp/ExtOffs coordinate system.
The values stored in p11 are related to the object coordinate system without any
offset on the external axes.
Return value Data type: robtarget
Arguments
The transformed position data.
ORobT (OrgPoint [\InPDisp] | [\InEOffs])
OrgPoint (Original Point) Data type: robtarget
The original point to be transformed.
[\InPDisp] (In Program Displacement) Data type: switch
Returns the TCP position in the ProgDisp coordinate system, i.e. removes external
axes offset only.
[\InEOffs] (In External Offset) Data type: switch
Returns the external axes in the offset coordinate system, i.e. removes program
displacement for the robot only.
RAPID Reference Manual 9-ORobT-1