Hello All
I need calculate the angle data for . mod prog from angles rotated around axis X Y Z .
There is four numbers whitch do not give me sense .
Is there some calculation conversion betwean angles and this four numbers ?
Hello,
Four numbers are quaternions. They are orient type value.
You can convert them to Euler angle using EulerZYX function.
Look at RAPID Instruction, Functions and Data types help file for examples.
Ok, but I need convert this axis rotation not in IRC5 but in small application where will be nown only rotation around X or Y or Z . It will be spray application where are visible only trajectories and points with all data included the angels of tools axis . After modification of each point in application prog mod will be saved that means will be created PROG_*.mod and send to IRC5 .
I need some formula for calculation .
Have you had a look at reltool - this adds a rotation relative to the tool (round the x, y, or z axis) to a robtarget in the motion command.
I’ve made a little program to convert Euler from/to Quaternions.
Here the functions:
https://github.com/DenisFR/ABB_RAPID_Prog_Helper/blob/main/ABB_RAPID_Prog_Helper/modAngles.vb#L46
It’s written in VB.net.