Setting YAW PITCH ROLL workobject

AN_custom-pak

I am trying to see if my "Fixture" is level, or if it has any error. I am using a searchL function to find the angle of error in my Fixture,  by touching off points on a cube to get the yaw pitch and roll of the cube and to what degree it is offset(from the base coordinate system). Is there anyway to input these angles and create a work object offset  from the base coordinate system?

also i understand the ABB robot controllers do not use Euler angles but rather quaternion. So I would also need to convert the Euler angles to quaternion.

Thanks
Austen Naeve

AN_custom-pak

^

osku

Hello

 

I think you might be able to use Rapid function DefAccFrame to create a new workobject according to your searched positions (see the Rapid Reference Manual).

 

For converting Euler angles to quaternions and quaternions to Euler there are functions OrientZYX and EulerZYX.

 

I hope these functions will help you.

 

-Osku

AN_custom-pak

Well I have figured out how to find the angle the fixture is offset based upon the base coordinate system, but when I input the angles into the EulerZYX function I dont see a change in the orientation. If I were to change the orientation of a work object wouldn't the direction of the X, Y, and Z change? So my question is, how do i change the orientation of a work object?
AN_custom-pak2010-09-03 20:47:11

Henrik Berlin

Is the work object fixed or attached to another mechanical unit? The oriention of a fixed workobject is defined by the quaternion part of it unless it is moved by a mechanical unit.

AN_custom-pak

It is fixed, but it may not be in the exact same spot each time.

AN_custom-pak

All issues as of now have been solved thanks for all the help.