Hey y'all!
Hopefully this is a quick question.
I've been poking around the documentation for the Offset, PR[ x ] option, which, as far as I can tell, has two modes depending on the value of $OFFSET_CART.
In the program instructions manual, it says:
Quoteif $OFFSET_CART is TRUE, offsets for Cartesian positions are treated as frames and used to pre-multiply positions. If this is FALSE, offsets for XYZQPR positoins are added field by field (for example, target.w=pos.w+offset.w).
For the sake of discussion, suppose I have this motion instruction:
I understand the manual to mean that if $OFFSET_CART is true, than the point the robot moves to is the position of P[1] relative to PR[1] relative to the current user frame, ie. USERFRAME:PR[1]:P[1]. If $OFFSET_CART is false, then it moves to position A (still relative to the current user frame) where A is the fieldwise sum of each of the components of P[1] and PR[1] (assuming P[1] and PR[1] are of the same type, joint or Cartesian).
However, in the vision operator's manual, I found this:
QuoteIf $OFFSET_CART is FALSE, the matrix format is used. If the value is TRUE, the XYZWPR format is used
I'm not entirely sure what this is trying to say, but it feels backwards from the previous explanation.
Can anyone explain what, exactly, Offset, PR[ x ] does? I am looking for a way to temporarily adjust my current frame without setting any system variables (to avoid forgetting to undo an adjustment and potentially break other programs), and this seems like my best bet.
Thanks!