Rotate tool relative to Oframe

Nunovsky_ABB

Hello all,

I'm a newbie in programming robots and i've been searching in this forum and i haven´t found it.

So, here it goes:

I pick up the boxes with a gripper from a feeder and i need to put those boxes on a table.

Each box has a orientation that is passed to the robot, so i need to rotate the box/gripper

x degrees relative to the object frame that i already defined.

How do i do that?

The function relTool don't do what i need since it rotate the box/gripper relative to the tool frame, 

i need to rotate relative to the object frame.

Thanks in advance, any help is welcome.

CDGautomationLTD

Hi,

How does the robot receivethe information about the rotation? Is it an euler angle or Quaternion? I'm new to this as well but i'll try and help

ferosapien

If you program your targets in the object frame Work Object, then the orientation will be defined by the object frame.

DanLars

Hi Nunovsky_ABB,

I haven't tested any of this I'm writing but it might be possible to do it like this:

VAR pose OrientationOffset;

PROC TurnTool()

OrientationOffset.rot := OrientZYX(YourAngle,0,0);

PdispSet OrientationOffset;

ENDPROC

Depending on how your workobject is defined, it might have to be another axis that you have to turn around.

When you have placed the box, remember to turn off the PDisp, with PdispOff - Else you will pick up with the previous angle

Mayby it can give some inspiration!

Regards, Lars