Hi,
I am looking for a Kuka built-in function that convert a Cartesian Position to an Axis position. We just need to specifiy the E6Pos, the Tool and the Base and the function will return a E6Axis.
Regards,
Found it... thanks for the list of Kuka function on this forum. I don't have the manual where all those functions are listed. No idea about the status value will mean. If you can post this manual I will really love it!
Regards #2 ;),
ns=0
$TOOL = TOOL_DATA[cEmptyTool]
$BASE = $NULLFRAME
jTest= $AXIS_ACT
pTest = FORWARD(jTest,ns )
$BASE = BASE_DATA[1]
pTestI = $POS_ACT
pTestI.Z = pTestI.Z -100
jTestF = INVERSE(pTestI,jTestI, ns)