May 26, 2019, 09:42:41 AM
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 Frame Manipulation

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May 10, 2019, 03:07:49 PM
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I have  a simple application where i will have a tray of parts that i will be picking from with a few rows and a few columns. I am trying to do it so the guy setting it up in the field can teach a plane and its good to go. The frame manipulation doesnt seem to work the way i would think it should.

I read the manual but i didnt see much in there showing what the difference was of the Pose_add, Pose_trans ect. but basically i want to only record the first pick position and offset the frame for every other pick. seems simple enough but when i record my first way point i have it set in the move statement of Feature "Plane_1" it doesnt go to the correct spot when i set the feature to Base it goes where i would expect it to.

Attached is a small sample code. I would think that Plane_1 would be actual coordinates but how do i get Posvar into a position based on the Frame i taught? I would think it would be represented as p[.1,0,0,0,0,0]
« Last Edit: May 10, 2019, 03:13:08 PM by Iprogram »

Today at 09:42:41 AM
Reply #1



May 11, 2019, 02:37:39 AM
Reply #1


If you want to move relative to the frame of Plane_1 you need to use that in your pose_add, not the waypoint which is giving you coordinates relative to the Base frame of reference.

When you define the plane you can check the box for use as a variable, there will automatically be a variable in the list called something like Plane_1_var that can be used in pose_add and pose_trans

To think about the difference between the two functions, pose_add works in the base frame of reference for x,y,z and pose_trans works in the frame of reference for whatever feature you are using in the formula. Often times the frame of the point does not line up with the base so it depends on how you are trying to move.

Generally if I am trying to move relative to a plane I’m using pose_trans as I want all motion to be dictated by the axes of the plane. You do have to understand how to set the plane points to get the correct axes and UR changed that math around 3.7. Originally planes were defined as the +Y axis was the first two points and then the third point defined +X so you could then derive the +Z axis using the right hand rule. Starting with, I believe, 3.7 they changed that to be the X axis is defined by the first two points and the third point sets the +Y axis. This does make for differences in how you use the planes.  However, planes taught in previous versions maintain the orientation they had previously so no worry that code would react differently on upgrade.

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May 11, 2019, 11:33:29 AM
Reply #2


Thank you now it works the way i need it to!

May 11, 2019, 11:36:16 AM
Reply #3


You’re welcome. Glad I could help

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