write a program that rotates 30 degrees around the X axis of the user coordinate

    if rotates 30 degrees around the X axis of the robot base coordinat，can use “point tp1=rx(30)” ,but how to write a program that rotates 30 degrees around the X axis of the user coordinate？how to use frame function in this？

    Use the TRANS command either in a location creation step, or direct motion.
    - The problem you have is that you can transform to the target from multiple solutions.
    - If you are conversant with the left rule of Kawasaki (OAT) specifically, then by using the TRANS command, any orientation can be achieved.
    - Just remember O = Rz, A = Ry, T = Rz.


    LMOVE tp1+TRANS(0,0,0,90,-30,-90) = positive rotation around the X axis by 30 degrees.
    LMOVE tp1+TRANS(0,0,0,90,30,-90) = negative rotation around the X axis by 30 degrees.


    Just be warned, as the OAT is calculated O then A then T (Rz then Ry then Rz), then it's not just case of putting in a simple degree value like you do with the RX command.


    Hope this helps.

    thanks！
    but i difficulty understand using the oat rule for x axis rotation，can you have some other method for it.
    user coordinate define: POINT UC1=FRAME(O1,X1,Y1,O1),then I need ratate 30 degrees with user coordinate axis。
    can i use:
    POINT TP1=UC1+RX(30) ?

    more:
    if i use oat rule，Is the following program correct?
    POINT UC1=FRAME(O1,X1,Y1,O1)
    POINT ROT=TRANS(0,0,0,90,-30,-90)
    HERE POSNOW
    POINT TP1=UC1+ROT-UC1+POSNOW
    LMOVE TP1

    this sample with using oat is good idea，Could you check the following lines for me?
    1、LMOVE tp1+TRANS(0,0,0,90,-30,-90) = positive rotation around the X axis by 30 degrees
    2、LMOVE tp1+TRANS(0,0,0,0,-30,0) = positive rotation around the Y axis by 30 degrees
    3、LMOVE tp1+TRANS(0,0,0,-30,0,0) = positive rotation around the Z axis by 30 degrees


    thanks

    I consider the TRANS the most powerful/flexible command for the motion in the Kawasaki Language.


    When you are trying to move reference to a coordinate system - like frame/base/user, then in Kawasaki you are restricted to:
    DRAW......which is a motion and includes translation values aswell as orientation.
    SHIFT......which is a calculation but only includes translation values and not orientation.


    Don't forget the POINT command variations too:
    POINT/X test = master_loc; creates null location values for test - but copies X from master_loc to test
    POINT/Y
    POINT/Z
    POINT/XYZ
    POINT/OAT


    Where you can decompose the individual elements of a transform and copy them into another transform.


    1、LMOVE tp1+TRANS(0,0,0,90,-30,-90) = positive rotation around the X axis by 30 degrees
    2、LMOVE tp1+TRANS(0,0,0,0,-30,0) = negative rotation around the Y axis by 30 degrees
    3、LMOVE tp1+TRANS(0,0,0,-30,0,0) = negative rotation around the Z axis by 30 degrees


    Remember the TRANS is relative to the taught transformation and NOT a specific coordinate system.

    Hi kawasaki，can help me to check following code error?
    here tp1
    LMOVE tp1+TRANS(0,0,0,90,-30,-90)
    when executing,but robot can not rotation around the X axis by 30 degrees,why?

    I ignored the tool coordinates，now It has been resolved。
    code 1：
    ;it rotate 30 degree around the X axis with tool coordinate.
    ;it is not rotate 30 degree around X axis with base coordinate.
    HERE start
    POINT offset=TRANS(0,0,0,90,-30,-90)
    LMOVE start+offset
    BREAK
    TWAIT 1
    HERE start
    POINT offset=TRANS(0,0,0,90,30,-90)
    LMOVE start+offset
    BREAK
    TWAIT 1
    code2:
    ;it is rotate 30 degree around X axis with base coordinate.
    HERE start
    POINT fx= SHIFT(start by 100,0,0)
    POINT fy= SHIFT(start by 0,100,0)
    POINT uc=frame(start,fx,fy,start)
    POINT offset=TRANS(0,0,0,90,-30,-90)
    LMOVE uc+offset-uc+start
    BREAK
    TWAIT 1
    HERE start
    POINT fx= SHIFT(start by 100,0,0)
    POINT fy= SHIFT(start by 0,100,0)
    POINT uc=frame(start,fx,fy,start)
    POINT offset=TRANS(0,0,0,90,30,-90)
    LMOVE uc+offset-uc+start
    BREAK
    TWAIT 1


    I use code2.
    thanks

    Yes, so looking at your code 2 you rotate -30, then back +30.
    TRANS command is very powerful, but does not give you the result on its own as it is applicable to the taught vectors.
    - Therefore you have to apply the rotation around the Base(frame) X axis and not the taught vectors.

    Quote

    LMOVE uc+offset-uc+start


    Your compound instruction achieves this by rotating the Frame location by -30/+30 and applying the taught vectors to it.......... :top:


    The compound instruction reads as:
    - Return Frame location (XYZOAT) add a target angle for rotation (Frame location OAT change), subtract initial Frame values (results in target OAT change) and add taught location to it.
    - Results in taught location vectors have been rotated around Frame vectors.

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