What you are seeing in the PR is the first 6 components of a rotation matrix. If you hit the page key (F2 I think) when viewing it you will see the remaining 6 components.
Turn $PR_CARTREP to True in the system variables. This will make the PR in a PR[XX]=UFRAME[X] command show up in normal Cartesian representation and not in matrix representation.
Of course this very useful system variable isn't documented...
PROGRAM a1
%COMMENT = 'cool job'
%ENVIRONMENT REGOPE
%ENVIRONMENT SYSDEF
%ENVIRONMENT KCLOP
VAR
xyz : XYZWPR
STATUS : INTEGER
BEGIN
xyz = $MNUFRAME[1,1]
SET_POS_REG(1,xyz, STATUS)
END a1Display More
Thank you, Nation, it worked.
I also would like to directly read a user frame component into a register.
This will be done in TP format BG logic, so reading to position register cannot be used.
What would be the syntax for this? Say, I need Z of Uframe 1.
R[1]=($MNUFRAME[1,1]???). How to refer the Z component?
I too would really like to know how this is done, assuming it is even possible. I even had a thread here, but no one was able to give me an answer.
Why u not want to use Karel, Macro, BG. Their bunch can help to solve a problem. In BG u put flag ON. When this flag is put ON then macro is called. In macro u called Karel program when u got in numeric register Z component of UFRAME. And in ends of karel program u put flag off. In BG u saw when flag is OFF then u take from register needed data.
If u think that is bad idea pls say^)
I think u can without Karel do it. Two choise:
1. If u TeachPendant is off:
Write BG to put flag for macros. In macros write PR[n] = UFRAME[m]; R[y] = PR[n,j] just like this. And in end of macros back macro flag to OFF.
2. If u TeachPendant is on:
its choise is difficult. But We can in run start TP program to read flag from BG and back datas of UFRAME in numeric register and say that to BG. because I not find how can to start the macro when TP is on^(
Even though I will do this in some easy way, scotty's Karel is still much more insteresting.
thx
What you are seeing in the PR is the first 6 components of a rotation matrix. If you hit the page key (F2 I think) when viewing it you will see the remaining 6 components.
Turn $PR_CARTREP to True in the system variables. This will make the PR in a PR[XX]=UFRAME[X] command show up in normal Cartesian representation and not in matrix representation.
Of course this very useful system variable isn't documented...
Just to say thank you. The PR_CARTREP was like a kind of tricky. Thank you so much, very useful
