Beta gravity and base frame data

pacijent

Hello to all, we will have installation of IRB 4600 with base rotated for 90 degrees (not sure if this is plus or minus on picture). Could you please tell me should I set beta gravity to + or - 1,5708, and do I have to put manually value for base frame Z distance and Y  orientation.



Thanks.

lemster68

I believe that will be plus +.  Do not change base frame z, just orientation.

pacijent

Thanks Lemster, I was just playing with it in RobotStudio, Q orientation for base frame gives me only 180 degrees rotation, so I guess I should keep 1,0,0,0 (q1-q4) base frame orientation and just change beta gravity?

lemster68

If you want the robot to jog properly in world, your should change the base frame orientation.  I also expect that this will keep world zones working correctly.  A "perfect" representation of 90 degrees is .707107.  You can use the following to get the orient values that you need:

MODULE TCP_adjust
  VAR orient orient1:=[1,0,0,0];

  PROC tcp_orient()
    VAR num anglex;
    VAR num angley;
    VAR num anglez;
    VAR num nFKAnswer;

    TPWrite "This routine is use to calculate";
    TPWrite "The quaternions based upon EulerZYX";
    TPWrite "angles.";
    TPWrite "Remember EulerZYX goes Z rotation,";
    TPWrite "Then Y rotation,";
    TPWrite "and then X rotation";
    TPReadNum anglex,"Please enter the value for x rotation";
    TPReadNum angley,"Please enter the value for y rotation";
    TPReadNum anglez,"Please enter the value for z rotation";
    orient1:=OrientZYX(anglez,angley,anglex);
    TPWrite "Based upon your inputs,";
    TPWrite "Quaternion 1 is "\Num:=orient1.q1;
    TPWrite "Quaternion 2 is "\Num:=orient1.q2;
    TPWrite "Quaternion 3 is "\Num:=orient1.q3;
    TPWrite "Quaternion 4 is "\Num:=orient1.q4;
    TPReadFK nFKAnswer,"Press OK to Finish",stEmpty,stEmpty,stEmpty,stEmpty,"OK";
  ENDPROC
ENDMODULE

lemster68

For your knowledge and anyone else who needs to know, changing the gravity beta is important to have the robot's motion supervision working correctly.

pacijent

Great, THANKS.