ABB SmarTac User Manual

6.2 Functions
6.2.1 PoseAdd - Adds the translation portions of pose data
Usage
PoseAdd is a function that requires two or three pose data arguments and returns
the sum of the translation portions in pose form.
The returned pose data will have the quaternions set to [1,0,0,0].
Basic examples
peSUM:=PoseAdd (peFIRST,peSECOND);
peSUM.trans is set equal to peFIRST.trans + peSECOND.trans. The rotational
portion of the peSUM is set to [1,0,0,0] by default.
Return value
Data type: pose
The displacement frame.
Arguments
PoseAdd (Pose1 Pose2 [\Pose3])
Pose1
Data type: pose
Pose data to be added
Pose2
Data type: pose
Pose data to be added
[\Pose3]
Data type: pose
Pose data to be added
Syntax
PoseAdd '('
[ Pose1 ':=' ] < expression (IN) of pose > ','
[ Pose2 ':=' ] < expression (IN) of pose > ','
[' \'Pose3 ':=' < expression (IN) of pose > ] ')'
Related information
Described in:
PDispAdd - Add program displacements on page 98PDispAdd
Technical reference manual - RAPID Instructions, Functions and Data
types
Data type pose
Application manual - SmarTac 99
3HAC024845-001 Revision: A
© Copyright 2004-2016 ABB. All rights reserved.
6 RAPID reference
6.2.1 PoseAdd - Adds the translation portions of pose data

ABB SmarTac Specifications

General

Brand	ABB
Model	SmarTac
Category	Accessories
Language	English