Smartac Functions - ABB SmarTac Applications Manual

4.7.2 SmarTac functions

Mathematical functions
Two global mathematical functions are provided in the SmarTac module.
Exercise 5 will illustrate the usage of these mathematical tools.
PoseAdd
PoseAdd is a simple function used to add the transport of two or three displacement
frames. The function returns pose data. In use it looks like this:
Using PoseAdd is similar to using the optional argument PrePDisp in Search_1D.
OFrameChange
OFrameChange uses seven arguments; a reference work object, three reference
points, and three displacement frames. The function returns wobjdata. In use it
looks like this:
Application manual - SmarTac
3HAC024845-001 Revision: A
• PoseAdd - Adds the translation portions of pose data on page 99
• OFrameChange - Create a new shifted object frame on page 100
peSUM:=PoseAdd(peFIRST, peSECOND);
obNEW:=OFrameChange(obREF, p1,p2,p3,pe1,pe2,pe3);
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4 User's guide
4.7.2 SmarTac functions
61