Adjusting WorkObject

Robot Controller
1

My code is set to allow the work object to be changed based upon
interface with the operator. However, I need to change the rotation of the
work object. But how to do with the quaternion? Let’s say I need to
change the rotation about the x-axis by 1.5 degrees, how to do?

Thanks!!

2

Hi
Take a look in the RAPID manual on instructions

  • OrientZYX
  • EulerZYX
    I think that is what you need

Best Regards
Per Svensson

3

Hi,

The PerSvensson have reason this is only you need, OrientZYX and the EulerZYX, you must have attention to order of the function is ( ZZZZZ,YYYYYY,XXXXXXX) not (XXXXX,YYYYYY,ZZZZZZ)is very important use the coordinate correct. I recomend use 2 WorkObject data, one is a fixed and the other is a variable like this:

fresa2 and fresa They are a WorkObject

fresa2:=fresa;

anglex := EulerZYX(X,fresa2.uframe.rot);
angley := EulerZYX(Y,fresa2.uframe.rot);
anglez := EulerZYX(,fresa2.uframe.rot);
anglnovox:=anglex + inclinafreza;
anglnovoy:=angley;
anglnovoz:=anglez;

fresa2.uframe.rot := OrientZYX(anglnovoz, anglnovoy, anglnovox);
fresa2.oframe.trans.x:=fresa2.oframe.trans.x + fresadx;
fresa2.oframe.trans.y:=fresa2.oframe.trans.y + fresady;
fresa2.oframe.trans.z:=fresa2.oframe.trans.z + fresadz;

Best regards,

Joao Fidalgo