Tool teaching with elongators X,Z How to reverse the Z direction on TP

Robot Controller
1

I have made a tool1759 the TCP is nice but the Z is backwards to what I’d like. Is there a software like QuaternionWiz that will recalculate the Z 180 different?

Q1 0.723129
Q2 -0.00128365
Q3 -0.00107694
Q4 -0.690711

Thanks, RobJ

2

Check this out:
https://robotapps.robotstudio.com/#/viewApp/46fca464-e0cd-4899-8df3-0f36977e536a
Or you can play with the signs, swap some numbers around, I can’t tell you which, just trial and error.

3

I have an exe that graphically shows Quaternion. Can modify angles to achieve your quaternions. I name it Quaternion Visualizer.