Hi,
how to write geometric operator in ABB?
for example:
POS1=POS2:POS3; (in KUKA Programming)
How to write this ABB?
Thanks is Advance.
Hi,
how to write geometric operator in ABB?
for example:
POS1=POS2:POS3; (in KUKA Programming)
How to write this ABB?
Thanks is Advance.
I can probably tell you if you explain what this does in kuka language.
Check out PDispSet/PDispOff for individual paths/positions.
Use WorkObject(s) for whole frames.
For better help, please let us know what you're trying to do and which controller/software platform you're working with (S4/IRC5).
POS3 := posemult POS1,POS2;
Should do the same.
Super
Is there anything for robtarget also? or is it possible only with POSE
No, not for robtarget, but Pose is a component of the robtarget data type.
So we can later joint it with rob target
I mean
dummy1Robtarget.Trans.X:=dummy2pose.Trans.x;
dummy1Robtarget.Trans.Y:=dummy2pose.Trans.Y;
dummy1Robtarget.Trans.Z:=dummy2pose.Trans.Z;
dummy1Robtarget.Trans.q1:=dummy2pose.Trans.q1;
dummy1Robtarget.Trans.q2:=dummy2pose.Trans.q2;
dummy1Robtarget.Trans.q3:=dummy2pose.Trans.q3;
dummy1Robtarget.Trans.q4:=dummy2pose.Trans.q4;
I am sure with Trans but I am not sure with the rotational. is it okay for orientation?
You don't have to break it completely down to x,y,z, just .trans =, and orientation is .rot