EN UG-020 Link 6 user guide r1.0
76
Related topics
on page 76
Euler angle convention used
Euler angles are used to represent the orientation of an object, such as a robot tool. The
convention used is Tait-Bryan, extrinsic ZYX.
There are three ways to rotate from the reference coordinate from (x,y,z) to the considered rigid
body.
1.
Rotation about fixed x axis of an angle rx (γ).
2.
Rotation about fixed y axis of an angle ry (β).
3.
Rotation about fixed z axis of an angle rz (α).
With this angle convention, we can define the associated rotation matrix.
R = Z(α)Y(β)X(γ)
Exporting or importing all zones into one file
All zones can be exported into one XML or JSON file after they are defined. All zones can be
imported at once.
About this task
Exporting zones is a fast way to integrate the robot, especially when multiple robots are in the
working environment. Define zones for one of the robots, import the file for the next robot, and
modify the values for it. Again, these new zones can be exported.
Important:
Export is available on the teach pendant only when a
USB port on the controller. It is available from a web browser when there is no USB stick.
Important:
Import is available on the teach pendant only when a
is connected in the
USB port on the controller. It is available from a web browser when there is no USB stick.
Important:
The exported and imported zones do not include the zone definition for the
tool.
Figure 58: Location of Protection zone Export
All button
Figure 59: Location of Protection zone Import
button
Procedure
Export all zones to one file
1.
Tap
Export All
>
Export JSON
or
Export All
>
Export XML
to export all the zones to a JSON or
XML file.
All zones are saved in the zone definition file.
Import all zone from one file
2.
Tap
Import
.
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Summary of Contents for Link 6
Page 1: ...Link 6 user guide Optional gripper shown ...
Page 8: ......
