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Is there an easy way to create a workobject 90 degrees perpendicular to the base?
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in RobotStudio
Or to another workobject in the robot?
0
Answers
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Use this:
%%% VERSION:1 LANGUAGE:ENGLISH %%% 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
Lee Justice0 -
lemster68 said:Use this:
%%% VERSION:1 LANGUAGE:ENGLISH %%% 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
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Just load the module as-is, then pp to that routine.Lee Justice0
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