Function: Convert motor positions to coordinat positions
Author:   SBP (QuickWood Automation) 
Date:     18-11-2003

DEFINES

#define RUN 0
#define CONV_JT1 1
#define CONV_JT2 2
#define CONV_JT3 3
#define CONV_JT4 4
#define ROBOT_TYPE 5

//Define robot type
#define TOWER 1 //Con Load Tower Robot

INPUT
   CMD
      RUN:         Make kinematic calculation
      CONV_JT1 :   Set conversion factor for JT1     
      CONV_JT2 :   Set conversion factor for JT2     
      CONV_JT3 :   Set conversion factor for JT3     
      CONV_JT4 :   Set conversion factor for JT4     
      ROBOT_TYPE : Set robot model
         TOWER :   Con Load Tower Robot

   VALUE :         Value to be written to the selected parameter

   JT1 :           Actual motor position of JT1
   JT2 :           Actual motor position of JT2
   JT3 :           Actual motor position of JT3
   JT4 :           Actual motor position of JT4

OUTPUT
   CORDX :         Calculated coordinat position for X
   CORDY :         Calculated coordinat position for Y
   CORDZ :         Calculated coordinat position for Z
   CORDC :         Calculated coordinat position for C
END_VAR