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Home > Applications > Rx Ry Rz in UR 10
khan_0816

Hi,
When I rotate one of the orientation of tool head under “Move Tool”, all the value of Rx Ry and Rz are changed? Why?

Thx in advance.
matthewd92

Which view mode are you in?  If you are in base or view you are seeing the tcp pose relative to that view coordinate system. So even if you are only rotating around a single tool axis you will potentially see all three rotations change as the tool is moving relative to all three coordinates in the view frame of reference. 
khan_0816

Which view mode are you in?  If you are in base or view you are seeing the tcp pose relative to that view coordinate system. So even if you are only rotating around a single tool axis you will potentially see all three rotations change as the tool is moving relative to all three coordinates in the view frame of reference. 
I am in base mode. Thx for your answer.
 What is the difference between base and view?


matthewd92

Base moves align to the robot axes, in view mode the arrows align with the view, you can turn the robot in view so for instance you can spin the robot 45 degrees and then using the X or Y arrows move along a 45 degree line.