I can’t seem to find in documentation anywhere how to do this. I only have one robot and simply want to make the World Coordinate System 45 degrees turned from the base one. I want to define worldzone objects, so need the World Coordinate System to change.
Thanks,
Why should you change the WCS then - i am not even sure if this is possible - . You can better leave the WCS and if really needed change the base. However, cant you work with workobjects?
I need to change the WCS so that I can create a Worldzone Box with the correct orientation. Currently you can only create a Worldzone Box with sides parallel to the coordinate axes. How do work objects relate to this?
Open configuration for MOTION, select robot,
change base frame quaternion
rotation of +45A? around z means
q1 = 0.9238795
q2 = 0
q3 = 0
q4 = 0.382683
warm start controller
result: World coordinate system is rotated -45A? around z (if you want to have it the other way round set the value for q4 to -0.382683)
AND: all workobjects including wobj0 and with them the robtargets are now calculated in the same way, as they are related to world