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+--- Thread: Robot Euler Angle (/Thread-Robot-Euler-Angle)
Robot Euler Angle-Adegrenier1-02-03-2022
After Speaking with Denso the Euler angle is wrong. The Y-axis is flipped. (green arrow should be pointing in the direction of the locating pinhole). Is there a way to change this? This would be the reason that my .RDk works fine when ran through RoboDk but move to Wincaps the TCP is flipped.
I have found this information but when I change the Euler angle type the direction on the flange does not change.
//m.sinclairbody.com/blog/robot-euler-angles/#:~:text=The%20most%20common%20method%20for,on%20the%20order%20of%20rotations.
RE: Robot Euler Angle-Olivier-02-03-2022
Can you show us a picture of the flipped TCP in Wincaps?
RE: Robot Euler Angle-Albert-02-03-2022
It would also be great if we can see the the following in the same picture for the home position:
- Robot joint values
- Cartesian position displayed by the controller
- Reference frame of the base and the robot flange (without any tool or TCP)
RE: Robot Euler Angle-Adegrenier1-02-04-2022
Hello Oliver and Albert,
Thank you for your responses, according to John Manalac at Denso NA the Robot Euler should be a rotational order is Rz, Ry, Rx. The Denso is currently set to GenericRx,Ry,Rz. Hopefully, these photos are everything you are asking for.
As I also posted in a different post before I understood this problem, I commented how the exported RoboDk code needs to be altered so that the tool is oriented in the correct direction.
RoboDkTCP
Tool 2, P(-150.340,2.776,95.024,90.000,0.000,-90.000)
Denso Wincaps edited TCP
Tool 2, P(150.340,2.776,95.024,90.000,0.000,90.000)
Thanks in advance,
Austen
RE: Robot Euler Angle-Olivier-02-07-2022
From what I can see, the flange reference is rotated 180 degrees.
I added an 180 degree rotation to the flange reference to match the version in Wincaps.
Also, the Euler angles can be changed to Epson/CRS to match the Euler rotation order of Rz, Ry, Rx.
Let me know if that fix the issue.
RE: Robot Euler Angle-Adegrenier1-02-07-2022
Hello @Olivier
I was able to find out how to rotate the tool in the advanced parameters before I saw this message. Thank you for responding and I'm glad that it was the same process. It fixed all my TCP issues and I was able to calibrate and print properly.\
Thank you!
Austen