Rotate position

s084706

Hi all,

i'm using the "WZBoxDef" command to make a box around a certain position. The only problem I have is that my robot and therefore my Wobj0 is rotated 15° around the X-axis. So when I want make these boxes they are also oriented 15° in relation to the floor, now I want to rotate them to 0° in relation to the floor. the thing is that this command uses Data type: pos and I don't know how you can rotate them.

can anybody help me with this? Or can anybody give me an alternative solution to this matter?

Thanks upfront for your help,

S084706

DenisFR

Hello,

ShapeData are defined in World Coordinate System. You can't apply them orientation.

You can rotate your WCS or make a second task managing this.

lemster68

The only problem I have is that my robot and therefore my Wobj0 is rotated 15° around the X-axis.   What exactly do you mean by this?  The robot itself is not mounted flat on the floor but on a pedestal that gives it 15° tilt?  If that is the case you need to change the baseframe in your system parameters (moc).  Then world coordinates take care of themselves.

s084706

lemster68 said:

The only problem I have is that my robot and therefore my Wobj0 is rotated 15° around the X-axis.   What exactly do you mean by this?  The robot itself is not mounted flat on the floor but on a pedestal that gives it 15° tilt?  If that is the case you need to change the baseframe in your system parameters (moc).  Then world coordinates take care of themselves.

Indeed that's what I mean by that, the robot is mounted on a pedestal with a 15° angle. Indeed I think that there is no other way than move the whole orientation of my baseframe. 
 Thank you all for the tips!