Modify rX / rY from 3D-Vision - before sending to robot. Formula/function?

    Hi, Guys!


    In my application it is a 3D Vision system for robot guiding (ABB IRB).
    The Vision system gives the position data in X,Y,Z rX,rY and rZ.
    When the object has an rZ=0 - everything is fine.
    My problem is when rZ differs from 0.
    For instance, if rX=0, rY=10 and rZ=90, this result in rotation around X - instead of Y.


    I'm sure this is a common case for robotics, but I can't find any information about this topic.
    What is the formula/function to handle this case?


    I'm using a Siemens Simatic S7-1500 Controller in my system (sending position values to Robot by ProfiBus), so if anyone has an application example with Simatic S7, it would be perfect. I guess I need to modify rX/rY from the vision system before sending pick position to robot.


    Thankful for any help.


    /hanho

    Unless you are somehow implementing the offset data into a reltool move, ABB doesn't use Euler angles. It uses quaternions to express orientation, so maybe somewhere inside the code it is changing Euler angles to quaternions. It could be there where there might be a bug.

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