Hi,
Does anybody know if there is a legit reason, why by default the TCP default pose has the X axis pointing down?
I have inherited a bunch of programs, and well I'd describe them of being all over the place in our they set out datum's and it makes general mess, and I think a disaster waiting to happen. Basically it looks like what ever was easier for the programmer and then just trial and error until things worked out.
I would like to sort out them out and move forward. I plan simply take a standard sane layout where possible, and do the explained and calculated mathematics on a case by case basis for the correct poses. Obviously with some more complex wObj that will not always be the case. What is driving this, is anyone who is not used to robots is completely confused you have more "abstract" coordinates systems. The mechanical engineers, normal controls, commissioning staff etc are always guessing and unsure.
So, before I do look at that standardisation, is there an actual reason for the default pose of the TCP? When I consider it from every other datumn system used on machines, I should be considering it looking out form the robot flange being ZPos, and XPos heading right.
Thanks,