Kuka ORI1 ORI2 Swivel vs Orientation

  • Hi,


    kan someone please explain the difference between the ORI1 and ORI2 concept?
    ORI1 is referred to as the swivel velocity. Is the swivel the joint 5 and 6 ?
    ORI2 is referred to as the rotation, of the TOOL? In all directions? Or?


    In german it is:
    $VEL.ORI1 = Schwenkgeschwindigkeit
    $VEL.ORI2 = Drehgeschwindigkeit


    I have multiple Kuka pdf's but I can't find an explanation.
    I have read:
    http://www.roboterforum.de/rob…-relativbewegung/msg11145
    but still don't get it.


    I have: Startup Manual / Configuration Manual / Operating and Programming instr / KRL Reference guide / Expert prog manual / System variablees / and some others.



    Maybe someone give an example of each motion?
    I assume it has something to do with the orientation velocities of the TOOL-frame.
    I assume:
    $IPO_MODE = #BASE
    $BASE = {FRAME: X 0, Y 0, Z 0, A 0, B 0, C 0}
    $TOOL = {FRAME: X 0, Y 0, Z 0, A 0, B 0, C 0}

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  • can't you just try it (make a test program) and watch it...


    ok here is my attempt to explain it based on my understanding:


    think of a spherical coordinate system, any position can be reached/represented using radius and two angles.
    http://en.wikipedia.org/wiki/File:3D_Spherical_2.svg


    radius is distance from origin (but here we don't really care about it)
    rotation about Z is the first angle (controlled by $vel.ori1)
    tilt away from Z is the other angle (controlled by $vel.ori2)


    did a job not long ago and customer configured tool such that Z-axis was normal to flange (X and Y were aligned with base) so rotation about Z was basically rotation of A6. to limit the velocity for rotation about Z axis I used $VEL.ORI1... other rotations about TCP would then be ORI2...

    1) read pinned topic: READ FIRST...

    2) if you have an issue with robot, post question in the correct forum section... do NOT contact me directly

    3) read 1 and 2

  • The $VEL.ORIx values do not refer to wrist axes at all. They refer to the rotation of the TCP orientation in Cartesian space. I don't have the specifics in front of me, but I believe 1 is the rotation around the Z axis, and 2 refers to the vector sum of rotation about the the X and Y axes. I believe these are the TCP axes, rather than the axes of the active Base. The units are deg/sec.

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