Good evening,
The world coordinate system is a Cartesian coordinate system that is the source of all Cartesian movements.
When I move the robot the translations are on the UF0 and rotations for the TCP, right? You can get the rotations in relation to the world?
For example:
PR [99,1]= 4000
PR [99,2]= 3000
PR [99,3]= -1000
PR [99,4]= 0
PR [99,5]= 0
PR [99,6]= 0
UFRAME[9]=PR[99]
L P[1] 100mm/sec FINE
If you add 5 degrees of rotation x (w) why the rotation is in relation to the TCP and not to UF ?
Best regards
Diogo Pinho