Changing World Coordinate System

msv

I can't seem to find in documentation anywhere how to do this. I only have one robot and simply want to make the World Coordinate System 45 degrees turned from the base one. I want to define worldzone objects, so need the World Coordinate System to change.

Thanks,

Rookie

Why should you change the WCS then - i am not even sure if this is possible - . You can better leave the WCS and if really needed change the base. However, cant you work with workobjects?

msv

I need to change the WCS so that I can create a Worldzone Box with the correct orientation. Currently you can only create a Worldzone Box with sides parallel to the coordinate axes. How do work objects relate to this?

Christian_Goy

Open configuration for MOTION, select robot,

change base frame quaternion

rotation of +45A? around z means

q1 = 0.9238795

q2 = 0

q3 = 0

q4 = 0.382683

 

 

warm start controller

 

result: World coordinate system is rotated -45A? around z (if you want to have it the other way round set the value for q4 to -0.382683)

AND: all workobjects including wobj0 and with them the robtargets are now calculated in the same way, as they are related to world

Christian_Goy2012-07-17 10:57:21