Function: Convert coordinat positions to motor 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_ANGLE :     Input angle of rotation for JT1 (used for handlinig multiturn)

   CMD_X :         Input X coordinat value for conversion
   CMD_Y :         Input Y coordinat value for conversion
   CMD_Z :         Input Z coordinat value for conversion
   CMD_C :         Input C coordinat value for conversion

OUTPUT
   CMD_JT1 :       Calculate new motor position for JT1
   CMD_JT2 :       Calculate new motor position for JT2
   CMD_JT3 :       Calculate new motor position for JT3
   CMD_JT4 :       Calculate new motor position for JT4
END_VAR