Creating reference point

Adept Cobra s600 and s800 SCARA robots

Creating reference point

Postby Ramos » Wed Dec 28, 2016 4:02 pm

Good evening everyone !
There is some tutorial to create a reference point for the other coordinates of the Adept robot, so when I change my reference 'x', it also changes to 'y' coordinate. That is 'x proportional to y' sorry to my English.
thanks advance
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Re: Creating reference point

Postby teknikiharmoni » Thu Apr 27, 2017 3:18 am

Lets say you have a reference loc called "ref".
"ref" could be taught or set or whatever, so the SET command below may not be needed.
In V+:
SET ref = TRANS(xref,yref,zref,rxref,ryref,rzref)
; New location "loc" with the offset "xvalue" in directions of X-axis caused by RX/RY/RZ and also affect Y and Z values for "loc".
SET loc = ref:TRANS(xvalue)
; if you want to offset the whole ref location in WORLD
SET loc=TRANS(xvalue):ref
Think its fairly good described in the robot users manuals.
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