Hello friends,
I'm reading this forum for some years and it's really interesting.
Here is my problem:
(System: DX, degrees are scaled different from NX)
Lets assume we've got a Rectangular Posvar in Robot coordinates,called P1.
We want to get a Posvar P2 which is offsetted and shifted in Tool Coords.
So we introduce a Posvar P3 which is defined in Tool Coords.
If P3 [1]= 50000 and P3[6]=900000
(offset 50mm and angle turned by 90 degrees)
MULMAT P2 P1 P3
Is the offset or the turn calculation done first?
Due to Denavit-Hartenberg rules the offset should be applied 1st and then the
rotation, but since we're talking about yaskawa I'm not really sure on this...
greetings from Gamma!