Units for inverse kinematics

Hello
I know that the units for angle that IK uses are radains but what are the units for lengths and other parameters ?
If we try to set them in our kinematic parameter and then feed it into IK function its gives error.
saying units not matching. because IK function contains VI inside that we cannot chnage
So what are the default units?
Can please anybody help me regarding that?
Sara

Thanks alot! So that means we even donot need to specifiy units of our cordinate system? because its not letting me do that too!
I am right so whatever value I will enter in my cordinate space with respect to units that I have in my mind, I have to follow those units everywhere!?
Sara

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    I would like to know about any fresh ideas for Inverse Kinematics of Robotic arm. I have a robotic arm, which has 4 links. I am sending a doc file which has the detailed description of the Inverse Kinematics and the algorithm which I have implemented using LabVIEW. Although I think the algorithm is correct but I am unable to make the arm move along a straight line. It would be nice if any one of you could please send me any ideas for implementing the same
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    http://exchange.ni.com/servlet/ProcessRequest?RHIVEID=101&RPAGEID=135&HOID=506500000008000000BA5A0000&UCATEGORY_0=_49_%24_6_&UCATEGORY_S=0&USEARCHCONTEXT_QUESTION_0=robotic+arm&USEARCHCONTEXT_QUESTION_S=0
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    http://exchange.ni.com/servlet/ProcessRequest?RHIVEID=101&RPAGEID=135&HOID=506500000008000000895F0000&UCATEGORY_0=_49_%24_6_&UCATEGORY_S=0&USEARCHCONTEXT
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    Any Fresh idea for Inverse Kiematics of Robotic arm.
    http://exchange.ni.com/servlet/ProcessRequest?RHIVEID=101&RPAGEID=135&HOID=506500000008000000735F0000&UCATEGORY_0=_49_%24_6_&UCATEGORY_S=0&USEARCHCONTEXT_QUESTION_0=robotic+arm&USEARCHCONTEXT_QUESTION_S=0
    Inverse Kinematics for Robotic Arm
    http://exchange.ni.com/servlet/ProcessRequest?RHIVEID=101&RPAGEID=135&HOID=5065000000080000009C5F0000&UCATEGORY_0=_49_%24_6_&UCATEGORY_S=0&USEARCHCONTEXT_QUESTION_0=robotic+arm&USEARCHCONTEXT_QUESTION_S=0
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    > I would like to know of any fresh idea for a robotic arm Inverse
    > Kinematics.I have given the details in my last posting.
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    Realm [admin-realm] of classtype [com.sun.enterprise.security.auth.realm.file.FileRealm] successfully created.]]
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    Realm [certificate] of classtype [com.sun.enterprise.security.auth.realm.certificate.CertificateRealm] successfully created.]]
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    Grizzly Framework 2.3.15 started in: 60ms - bound to [/0.0.0.0:8181]]]
    [2015-03-22T15:11:49.478+0000] [glassfish 4.1] [INFO] [NCLS-CORE-00087] [javax.enterprise.system.core] [tid: _ThreadID=14 _ThreadName=RunLevelControllerThread-1427037041032] [timeMillis: 1427037109478] [levelValue: 800] [[
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    Grizzly Framework 2.3.15 started in: 12ms - bound to [/0.0.0.0:3700]]]
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    visiting unvisited references]]
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    true
    -asadmin-args
    --host,,,localhost,,,--port,,,4848,,,--secure=false,,,--terse=false,,,--echo=false,,,--interactive=true,,,start-domain,,,--verbose=false,,,--watchdog=false,,,--debug=false,,,--domaindir,,,/home/pian/glassfish4/glassfish/domains,,,domain1
    -domainname
    domain1
    -instancename
    server
    -type
    DAS
    -verbose
    false
    -asadmin-classpath
    /home/pian/glassfish4/glassfish/lib/client/appserver-cli.jar
    -debug
    false
    -asadmin-classname
    com.sun.enterprise.admin.cli.AdminMain]]
    [2015-03-22T15:41:45.525+0000] [glassfish 4.1] [INFO] [NCLS-LOGGING-00009] [javax.enterprise.logging] [tid: _ThreadID=13 _ThreadName=RunLevelControllerThread-1427038896461] [timeMillis: 1427038905525] [levelValue: 800] [[
    Running GlassFish Version: GlassFish Server Open Source Edition 4.1 (build 13)]]
    [2015-03-22T15:41:45.598+0000] [glassfish 4.1] [INFO] [NCLS-LOGGING-00010] [javax.enterprise.logging] [tid: _ThreadID=13 _ThreadName=RunLevelControllerThread-1427038896461] [timeMillis: 1427038905598] [levelValue: 800] [[
    Server log file is using Formatter class: com.sun.enterprise.server.logging.ODLLogFormatter]]
    [2015-03-22T15:41:54.578+0000] [glassfish 4.1] [INFO] [NCLS-SECURITY-01115] [javax.enterprise.system.core.security] [tid: _ThreadID=15 _ThreadName=RunLevelControllerThread-1427038896771] [timeMillis: 1427038914578] [levelValue: 800] [[
    Realm [admin-realm] of classtype [com.sun.enterprise.security.auth.realm.file.FileRealm] successfully created.]]
    [2015-03-22T15:41:54.690+0000] [glassfish 4.1] [INFO] [NCLS-SECURITY-01115] [javax.enterprise.system.core.security] [tid: _ThreadID=15 _ThreadName=RunLevelControllerThread-1427038896771] [timeMillis: 1427038914690] [levelValue: 800] [[
    Realm [file] of classtype [com.sun.enterprise.security.auth.realm.file.FileRealm] successfully created.]]
    [2015-03-22T15:41:56.229+0000] [glassfish 4.1] [INFO] [NCLS-SECURITY-01115] [javax.enterprise.system.core.security] [tid: _ThreadID=15 _ThreadName=RunLevelControllerThread-1427038896771] [timeMillis: 1427038916229] [levelValue: 800] [[
    Realm [certificate] of classtype [com.sun.enterprise.security.auth.realm.certificate.CertificateRealm] successfully created.]]
    [2015-03-22T15:42:16.455+0000] [glassfish 4.1] [INFO] [SEC-SVCS-00100] [javax.enterprise.security.services] [tid: _ThreadID=12 _ThreadName=RunLevelControllerThread-1427038896420] [timeMillis: 1427038936455] [levelValue: 800] [[
    Authorization Service has successfully initialized.]]
    [2015-03-22T15:42:25.582+0000] [glassfish 4.1] [INFO] [] [org.glassfish.ha.store.spi.BackingStoreFactoryRegistry] [tid: _ThreadID=12 _ThreadName=RunLevelControllerThread-1427038896420] [timeMillis: 1427038945582] [levelValue: 800] [[
    Registered org.glassfish.ha.store.adapter.cache.ShoalBackingStoreProxy for persistence-type = replicated in BackingStoreFactoryRegistry]]
    [2015-03-22T15:42:43.272+0000] [glassfish 4.1] [INFO] [NCLS-CORE-00087] [javax.enterprise.system.core] [tid: _ThreadID=14 _ThreadName=RunLevelControllerThread-1427038896756] [timeMillis: 1427038963272] [levelValue: 800] [[
    Grizzly Framework 2.3.15 started in: 1,079ms - bound to [/0.0.0.0:8080]]]
    [2015-03-22T15:42:49.658+0000] [glassfish 4.1] [INFO] [NCLS-CORE-00087] [javax.enterprise.system.core] [tid: _ThreadID=14 _ThreadName=RunLevelControllerThread-1427038896756] [timeMillis: 1427038969658] [levelValue: 800] [[
    Grizzly Framework 2.3.15 started in: 62ms - bound to [/0.0.0.0:8181]]]
    [2015-03-22T15:42:54.264+0000] [glassfish 4.1] [INFO] [NCLS-CORE-00087] [javax.enterprise.system.core] [tid: _ThreadID=14 _ThreadName=RunLevelControllerThread-1427038896756] [timeMillis: 1427038974264] [levelValue: 800] [[
    Grizzly Framework 2.3.15 started in: 41ms - bound to [/0.0.0.0:4848]]]
    [2015-03-22T15:42:58.446+0000] [glassfish 4.1] [INFO] [NCLS-CORE-00087] [javax.enterprise.system.core] [tid: _ThreadID=14 _ThreadName=RunLevelControllerThread-1427038896756] [timeMillis: 1427038978446] [levelValue: 800] [[
    Grizzly Framework 2.3.15 started in: 12ms - bound to [/0.0.0.0:3700]]]
    [2015-03-22T15:45:23.078+0000] [glassfish 4.1] [INFO] [] [javax.enterprise.system.tools.deployment.common] [tid: _ThreadID=13 _ThreadName=RunLevelControllerThread-1427038896461] [timeMillis: 1427039123078] [levelValue: 800] [[
    visiting unvisited references]]
    [2015-03-22T15:46:06.032+0000] [glassfish 4.1] [INFO] [NCLS-SECURITY-01002] [javax.enterprise.system.core.security] [tid: _ThreadID=13 _ThreadName=RunLevelControllerThread-1427038896461] [timeMillis: 1427039166032] [levelValue: 800] [[
    Java security manager is disabled.]]
    [2015-03-22T15:46:06.048+0000] [glassfish 4.1] [INFO] [NCLS-SECURITY-01010] [javax.enterprise.system.core.security] [tid: _ThreadID=13 _ThreadName=RunLevelControllerThread-1427038896461] [timeMillis: 1427039166048] [levelValue: 800] [[
    Entering Security Startup Service.]]
    [2015-03-22T15:46:06.359+0000] [glassfish 4.1] [INFO] [NCLS-SECURITY-01143] [javax.enterprise.system.core.security] [tid: _ThreadID=13 _ThreadName=RunLevelControllerThread-1427038896461] [timeMillis: 1427039166359] [levelValue: 800] [[
    Loading policy provider com.sun.enterprise.security.provider.PolicyWrapper.]]
    [2015-03-22T15:46:12.625+0000] [glassfish 4.1] [INFO] [NCLS-SECURITY-01011] [javax.enterprise.system.core.security] [tid: _ThreadID=13 _ThreadName=RunLevelControllerThread-1427038896461] [timeMillis: 1427039172625] [levelValue: 800] [[
    Security Service(s) started successfully.]]
    [2015-03-22T15:46:40.575+0000] [glassfish 4.1] [INFO] [AS-WEB-GLUE-00198] [javax.enterprise.web] [tid: _ThreadID=13 _ThreadName=RunLevelControllerThread-1427038896461] [timeMillis: 1427039200575] [levelValue: 800] [[
    Created HTTP listener http-listener-1 on host/port 0.0.0.0:8080]]
    [2015-03-22T15:46:41.137+0000] [glassfish 4.1] [INFO] [AS-WEB-GLUE-00198] [javax.enterprise.web] [tid: _ThreadID=13 _ThreadName=RunLevelControllerThread-1427038896461] [timeMillis: 1427039201137] [levelValue: 800] [[
    Created HTTP listener http-listener-2 on host/port 0.0.0.0:8181]]
    [2015-03-22T15:46:41.462+0000] [glassfish 4.1] [INFO] [AS-WEB-GLUE-00198] [javax.enterprise.web] [tid: _ThreadID=13 _ThreadName=RunLevelControllerThread-1427038896461] [timeMillis: 1427039201462] [levelValue: 800] [[
    Created HTTP listener admin-listener on host/port 0.0.0.0:4848]]
    [2015-03-22T15:46:42.503+0000] [glassfish 4.1] [INFO] [AS-WEB-GLUE-00200] [javax.enterprise.web] [tid: _ThreadID=13 _ThreadName=RunLevelControllerThread-1427038896461] [timeMillis: 1427039202503] [levelValue: 800] [[
    Created virtual server server]]
    [2015-03-22T15:46:42.788+0000] [glassfish 4.1] [INFO] [AS-WEB-GLUE-00200] [javax.enterprise.web] [tid: _ThreadID=13 _ThreadName=RunLevelControllerThread-1427038896461] [timeMillis: 1427039202788] [levelValue: 800] [[
    Created virtual server __asadmin]]
    [2015-03-22T15:46:52.796+0000] [glassfish 4.1] [INFO] [AS-WEB-CORE-00306] [javax.enterprise.web.core] [tid: _ThreadID=13 _ThreadName=RunLevelControllerThread-1427038896461] [timeMillis: 1427039212796] [levelValue: 800] [[
    Setting JAAS app name glassfish-web]]
    [2015-03-22T15:46:52.815+0000] [glassfish 4.1] [INFO] [AS-WEB-GLUE-00201] [javax.enterprise.web] [tid: _ThreadID=13 _ThreadName=RunLevelControllerThread-1427038896461] [timeMillis: 1427039212815] [levelValue: 800] [[
    Virtual server server loaded default web module ]]
    [2015-03-22T15:47:35.172+0000] [glassfish 4.1] [INFO] [] [javax.enterprise.system.tools.deployment.common] [tid: _ThreadID=13 _ThreadName=RunLevelControllerThread-1427038896461] [timeMillis: 1427039255172] [levelValue: 800] [[
    visiting unvisited references]]
    [2015-03-22T15:47:36.122+0000] [glassfish 4.1] [INFO] [] [javax.enterprise.system.tools.deployment.common] [tid: _ThreadID=13 _ThreadName=RunLevelControllerThread-1427038896461] [timeMillis: 1427039256122] [levelValue: 800] [[
    visiting unvisited references]]
    [2015-03-22T15:47:36.245+0000] [glassfish 4.1] [INFO] [] [javax.enterprise.system.tools.deployment.common] [tid: _ThreadID=13 _ThreadName=RunLevelControllerThread-1427038896461] [timeMillis: 1427039256245] [levelValue: 800] [[
    visiting unvisited references]]
    [2015-03-22T15:47:36.369+0000] [glassfish 4.1] [INFO] [] [javax.enterprise.system.tools.deployment.common] [tid: _ThreadID=13 _ThreadName=RunLevelControllerThread-1427038896461] [timeMillis: 1427039256369] [levelValue: 800] [[
    visiting unvisited references]]
    [2015-03-22T15:47:36.493+0000] [glassfish 4.1] [INFO] [] [javax.enterprise.system.tools.deployment.common] [tid: _ThreadID=13 _ThreadName=RunLevelControllerThread-1427038896461] [timeMillis: 1427039256493] [levelValue: 800] [[
    visiting unvisited references]]
    [2015-03-22T15:47:36.619+0000] [glassfish 4.1] [INFO] [] [javax.enterprise.system.tools.deployment.common] [tid: _ThreadID=13 _ThreadName=RunLevelControllerThread-1427038896461] [timeMillis: 1427039256619] [levelValue: 800] [[
    visiting unvisited references]]
    [2015-03-22T15:47:36.741+0000] [glassfish 4.1] [INFO] [] [javax.enterprise.system.tools.deployment.common] [tid: _ThreadID=13 _ThreadName=RunLevelControllerThread-1427038896461] [timeMillis: 1427039256741] [levelValue: 800] [[
    visiting unvisited references]]
    [2015-03-22T15:47:36.871+0000] [glassfish 4.1] [INFO] [] [javax.enterprise.system.tools.deployment.common] [tid: _ThreadID=13 _ThreadName=RunLevelControllerThread-1427038896461] [timeMillis: 1427039256871] [levelValue: 800] [[
    visiting unvisited references]]
    [2015-03-22T15:49:33.162+0000] [glassfish 4.1] [INFO] [] [org.glassfish.jersey.server.ApplicationHandler] [tid: _ThreadID=13 _ThreadName=RunLevelControllerThread-1427038896461] [timeMillis: 1427039373162] [levelValue: 800] [[
    Initiating Jersey application, version Jersey: 2.10.4 2014-08-08 15:09:00...]]
    [2015-03-22T15:50:26.435+0000] [glassfish 4.1] [INFO] [AS-WEB-GLUE-00172] [javax.enterprise.web] [tid: _ThreadID=13 _ThreadName=RunLevelControllerThread-1427038896461] [timeMillis: 1427039426435] [levelValue: 800] [[
    Loading application [service] at [/service]]]
    [2015-03-22T15:50:26.502+0000] [glassfish 4.1] [INFO] [NCLS-CORE-00022] [javax.enterprise.system.core] [tid: _ThreadID=13 _ThreadName=RunLevelControllerThread-1427038896461] [timeMillis: 1427039426502] [levelValue: 800] [[
    Loading application service done in 486,416 ms]]
    [2015-03-22T15:50:26.554+0000] [glassfish 4.1] [INFO] [NCLS-CORE-00017] [javax.enterprise.system.core] [tid: _ThreadID=1 _ThreadName=main] [timeMillis: 1427039426554] [levelValue: 800] [[
    GlassFish Server Open Source Edition 4.1 (13) startup time : Felix (127,555ms), startup services(530,277ms), total(657,832ms)]]
    [2015-03-22T15:50:51.956+0000] [glassfish 4.1] [INFO] [NCLS-JMX-00024] [javax.enterprise.system.jmx] [tid: _ThreadID=59 _ThreadName=Thread-19] [timeMillis: 1427039451956] [levelValue: 800] [[
    Creating a SecureRMIServerSocketFactory @ 0.0.0.0 with ssl config = GlassFishConfigBean.org.glassfish.grizzly.config.dom.Ssl]]
    [2015-03-22T15:50:52.232+0000] [glassfish 4.1] [WARNING] [NCLS-JMX-00020] [javax.enterprise.system.jmx] [tid: _ThreadID=59 _ThreadName=Thread-19] [timeMillis: 1427039452232] [levelValue: 900] [[
    All SSL cipher suites disabled for network-listener(s). Using SSL implementation specific defaults]]
    [2015-03-22T15:50:52.223+0000] [glassfish 4.1] [INFO] [] [] [tid: _ThreadID=59 _ThreadName=Thread-8] [timeMillis: 1427039452223] [levelValue: 800] [[
    SSLParams =org.glassfish.admin.mbeanserver.ssl.SSLParams@1a7d45]]
    [2015-03-22T15:50:53.861+0000] [glassfish 4.1] [INFO] [] [] [tid: _ThreadID=59 _ThreadName=Thread-8] [timeMillis: 1427039453861] [levelValue: 800] [[
    SSLParams =org.glassfish.admin.mbeanserver.ssl.SSLParams@1a7d45]]
    [2015-03-22T15:50:53.870+0000] [glassfish 4.1] [WARNING] [NCLS-JMX-00020] [javax.enterprise.system.jmx] [tid: _ThreadID=59 _ThreadName=Thread-19] [timeMillis: 1427039453870] [levelValue: 900] [[
    All SSL cipher suites disabled for network-listener(s). Using SSL implementation specific defaults]]
    right now, glassfish is started, but when accessing deployed application's URL (it's REST web service) I get resource not available.
    after a while sevice get's available and this is appended into the log:
    [2015-03-22T15:51:01.140+0000] [glassfish 4.1] [INFO] [NCLS-JMX-00025] [javax.enterprise.system.jmx] [tid: _ThreadID=59 _ThreadName=Thread-19] [timeMillis: 1427039461140] [levelValue: 800] [[
    SSLServerSocket /0.0.0.0:8686 and [SSL: ServerSocket[addr=/0.0.0.0,localport=8686]] created]]
    [2015-03-22T15:51:08.236+0000] [glassfish 4.1] [INFO] [NCLS-BOOTSTRAP-00027] [javax.enterprise.bootstrap] [tid: _ThreadID=1 _ThreadName=main] [timeMillis: 1427039468236] [levelValue: 800] [[
    Registered com.sun.enterprise.glassfish.bootstrap.osgi.EmbeddedOSGiGlassFishImpl@5a060f as OSGi service registration: org.apache.felix.framework.ServiceRegistrationImpl@ec523c.]]
    [2015-03-22T15:52:03.697+0000] [glassfish 4.1] [INFO] [NCLS-JMX-00005] [javax.enterprise.system.jmx] [tid: _ThreadID=59 _ThreadName=Thread-19] [timeMillis: 1427039523697] [levelValue: 800] [[
    JMXStartupService has started JMXConnector on JMXService URL service:jmx:rmi://alarmpi:8686/jndi/rmi://alarmpi:8686/jmxrmi]]
    [2015-03-22T15:53:19.225+0000] [glassfish 4.1] [INFO] [] [org.hibernate.validator.internal.util.Version] [tid: _ThreadID=25 _ThreadName=http-listener-1(4)] [timeMillis: 1427039599225] [levelValue: 800] [[
    HV000001: Hibernate Validator 5.0.0.Final]]
    [2015-03-22T15:53:30.219+0000] [glassfish 4.1] [INFO] [] [] [tid: _ThreadID=25 _ThreadName=Thread-8] [timeMillis: 1427039610219] [levelValue: 800] [[
    [EL Info]: 2015-03-22 15:53:30.062--ServerSession(32742320)--EclipseLink, version: Eclipse Persistence Services - 2.5.2.v20140319-9ad6abd]]
    [2015-03-22T15:53:34.081+0000] [glassfish 4.1] [INFO] [] [] [tid: _ThreadID=25 _ThreadName=Thread-8] [timeMillis: 1427039614081] [levelValue: 800] [[
    [EL Info]: connection: 2015-03-22 15:53:34.067--ServerSession(32742320)--file:/home/pian/glassfish4/glassfish/domains/domain1/applications/service/WEB-INF/classes/_serviceUnit login successful]]
    So can you, please, help me understand what is happening and what I need to do to correctly start glassfish's domain with deployed application in it via systemd?
    Thank you!
    Last edited by greengold (2015-03-22 16:10:33)

    I suggest you create a dedicated user for your calibre service and not run it as root (User=, Group=). I'm not so sure running that code mess as root.
    Edit: Or if you want the server to run only when your user is logged in, then create it in the systemd user session.
    Last edited by progandy (2015-01-18 23:56:03)

  • Setting currency and measurement unit for a field in an ALV report

    Plz give sample code to set currency and measurement unit for a field in an ALV report

    dear friend
    i am seanding you
    the display form
    if you need select form
    and process form also pls keep in touch.
    if help full rewards are expecting.
    yours
    vivek
    FORM build_field_catalog .
      DATA: w_dthigh(10).
      CLEAR fcat.
      fcat-fieldname = 'VBELN'.
      fcat-outputlen = 10.
      fcat-seltext_s = 'COMMERCIAL INVOICE'.
      fcat-seltext_m = 'Commercial Invoice'.
      fcat-seltext_l = 'COMMERCIAL INVOICE'.
      fcat-ddictxt = 'M'.
      fcat-inttype = 'C'.
      fcat-datatype = 'CHAR'.
      fcat-key = 'X'.
      fcat-hotspot = 'X'.
      APPEND fcat.
      CLEAR fcat.
      fcat-fieldname = 'EXNUM'.
      fcat-outputlen = 10.
      fcat-seltext_s = 'EXCISE INVOICE'.
      fcat-seltext_m = 'Excise Invoice'.
      fcat-seltext_l = 'EXCISE INVOICE'.
      fcat-ddictxt = 'M'.
      fcat-inttype = 'C'.
      fcat-datatype = 'CHAR'.
      fcat-hotspot = 'X'.
      APPEND fcat.
      CLEAR fcat.
      fcat-fieldname = 'EXDAT'.
      fcat-outputlen = 10.
      fcat-seltext_s = 'EXCISE DATE'.
      fcat-seltext_m = 'Excise Date'.
      fcat-seltext_l = 'EXCISE DATE'.
      fcat-ddictxt = 'M'.
      fcat-inttype = 'D'.
      fcat-datatype = 'DATS'.
      APPEND fcat.
      CLEAR fcat.
      fcat-fieldname = 'NAME1'.
      fcat-outputlen = 30.
      fcat-seltext_s = 'CUSTOMER'.
      fcat-seltext_m = 'Customer'.
      fcat-seltext_l = 'CUSTOMER'.
      fcat-ddictxt = 'M'.
      fcat-inttype = 'C'.
      fcat-datatype = 'CHAR'.
      fcat-lowercase = 'X'.
      APPEND fcat.
      CLEAR fcat.
      fcat-fieldname = 'ZZPD'.
      fcat-outputlen = 15.
      fcat-seltext_s = 'COUNTRY'.
      fcat-seltext_m = 'COUNTRY'.
      fcat-seltext_l = 'COUNTRY'.
      fcat-ddictxt = 'M'.
      fcat-inttype = 'C'.
      fcat-datatype = 'CHAR'.
      fcat-lowercase = 'X'.
      APPEND fcat.
      CLEAR fcat.
      fcat-fieldname = 'WERKS'.
      fcat-outputlen = 4.
      fcat-seltext_s = 'PLANT'.
      fcat-seltext_m = 'Plant'.
      fcat-seltext_l = 'PLANT'.
      fcat-ddictxt = 'M'.
      fcat-inttype = 'C'.
      fcat-datatype = 'CHAR'.
      fcat-key = 'X'.
      APPEND fcat.
      CLEAR fcat.
      fcat-fieldname = 'ARKTX'.
      fcat-outputlen = 40.
      fcat-seltext_s = 'MATERIAL DESCRIPTION'.
      fcat-seltext_m = 'Material Description'.
      fcat-seltext_l = 'MATERIAL DESCRIPTION'.
      fcat-ddictxt = 'M'.
      fcat-inttype = 'C'.
      fcat-datatype = 'CHAR'.
      fcat-lowercase = 'X'.
      APPEND fcat.
      CLEAR fcat.
      fcat-fieldname = 'FKART'.
      fcat-outputlen = 4.
      fcat-seltext_s = 'Billing type'.
      fcat-seltext_m = 'Billing type'.
      fcat-seltext_l = 'Billing type'.
      fcat-ddictxt = 'M'.
      fcat-inttype = 'C'.
      fcat-datatype = 'CHAR'.
      fcat-key = 'X'.
      APPEND fcat.
      CLEAR fcat.
      fcat-fieldname = 'INCO1'.
      fcat-outputlen = 5.
      fcat-seltext_s = 'INCO TERMS'.
      fcat-seltext_m = 'INCO TERMS'.
      fcat-seltext_l = 'INCO TERMS'.
      fcat-ddictxt = 'M'.
      fcat-inttype = 'C'.
      fcat-datatype = 'CHAR'.
      APPEND fcat.
      CLEAR fcat.
      fcat-fieldname = 'INCO2'.
      fcat-outputlen = 10.
      fcat-seltext_s = 'INCO TERMS DES'.
      fcat-seltext_m = 'INCO TERMS DES'.
      fcat-seltext_l = 'INCO TERMS DES'.
      fcat-ddictxt = 'M'.
      fcat-inttype = 'C'.
      fcat-datatype = 'CHAR'.
      APPEND fcat.
    CLEAR fcat.
    fcat-fieldname = 'FKIMG'.
    fcat-outputlen = 14.
    fcat-seltext_s = 'QUANTITY'.
    fcat-seltext_m = 'Quantity'.
    fcat-seltext_l = 'QUANTITY'.
    fcat-ddictxt = 'M'.
    fcat-inttype = 'P'.
    fcat-datatype = 'QUAN'.
    APPEND fcat.
      CLEAR fcat.
      fcat-fieldname = 'FKLMG'.
      fcat-outputlen = 10.
      fcat-seltext_s = 'QUANTITY'.
      fcat-seltext_m = 'QUANTITY'.
      fcat-seltext_l = 'QUANTITY'.
      fcat-ddictxt = 'M'.
      fcat-inttype = 'P'.
      fcat-datatype = 'QUAN'.
      APPEND fcat.
      CLEAR fcat.
      fcat-fieldname = 'MEINS'.
      fcat-outputlen = 5.
      fcat-seltext_s = 'UNIT'.
      fcat-seltext_m = 'UNIT'.
      fcat-seltext_l = 'UNIT'.
      fcat-ddictxt = 'M'.
      fcat-inttype = 'C'.
      fcat-datatype = 'CHAR'.
      APPEND fcat.
      CLEAR fcat.
      fcat-fieldname = 'KBETR'.
      fcat-outputlen = 8.
      fcat-seltext_s = 'RATE'.
      fcat-seltext_m = 'Rate'.
      fcat-seltext_l = 'RATE'.
      fcat-ddictxt = 'M'.
      fcat-inttype = 'P'.
      fcat-datatype = 'CURR'.
      APPEND fcat.
      CLEAR fcat.
      fcat-fieldname = 'NSR'.
      fcat-outputlen = 8.
      fcat-seltext_s = 'Exmill'.
      fcat-seltext_m = 'Exmill'.
      fcat-seltext_l = 'Exmill'.
      fcat-ddictxt = 'M'.
      fcat-inttype = 'P'.
      fcat-datatype = 'CURR'.
      APPEND fcat.
      CLEAR fcat.
      fcat-fieldname = 'KURSK'.
      fcat-outputlen = 8.
      fcat-seltext_s = 'EXCHANGE RATE'.
      fcat-seltext_m = 'Exchange Rate'.
      fcat-seltext_l = 'Exchange Rate'.
      fcat-ddictxt = 'M'.
      fcat-inttype = 'P'.
      fcat-datatype = 'CURR'.
      APPEND fcat.
      CLEAR fcat.
      fcat-fieldname = 'WAERK'.
      fcat-outputlen = 5.
      fcat-seltext_s = 'CURRENCY'.
      fcat-seltext_m = 'Currency'.
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