My application has a robot rotated -45 degrees in relation to the cell. In order to get the WorldZones to line up, I changed the base frame Q1 to 0.92388 and Q4 to -0.38268.
My understanding is that this will change the world co-ordinate system by 45 degrees so I can make the WorldZones line up with the cell.
Is this the correct way to do this?
Second, I'm having issues moving Axis 1 past 180 digress with the new world co-ordinate system. I've adjusted ROB1_1 upper joint bound to 3.927 (225 degrees), but it still gives an out of range error when I hit 180 degrees (I have restarted the controller). Is there another setting I need to change?