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khan_0816khan_0816 Posts: 2 Recruit
edited March 2019 in Applications
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.
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Best Answer

  • matthewd92matthewd92 Founding Pro, Tactile Sensor Beta Testers Posts: 1,267 Handy
    Answer ✓
    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. 
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  • khan_0816khan_0816 Posts: 2 Recruit
    edited March 2019
    matthewd92 said:
    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?


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  • matthewd92matthewd92 Founding Pro, Tactile Sensor Beta Testers Posts: 1,267 Handy
    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.
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