12.2 Pose Editor Screen
Below the feature selector, the name of the currently active Tool Center Point (TCP) is displayed.
For further information about configuring several named TCPs, see 13.6. The text boxes show the
full coordinate values of that TCP relative to the selected feature. X , Y and Z control the position of
the tool, while RX, RY and RZ control the orientation of the tool.
Use the drop down menu above the RX, RY and RZ boxes to choose the orientation representation.
Available types are:
• Rotation Vector [rad] The orientation is given as a rotation vector. The length of the axis is the
angle to be rotated in radians, and the vector itself gives the axis about which to rotate. This is
the default setting.
• Rotation Vector [
◦
] The orientation is given as a rotation vector, where the length of the vector
is the angle to be rotated in degrees.
• RPY [rad] Roll, pitch and yaw (RPY) angles, where the angles are in radians. The RPY-rotation
matrix (X, Y’, Z” rotation) is given by:
R
rpy
(γ, β, α) = R
Z
(α) · R
Y
(β) · R
X
(γ)
• RPY [
◦
] Roll, pitch and yaw (RPY) angles, where angles are in degrees.
Values can be edited by clicking on the coordinate. Clicking on the + or - buttons just to the right
of a box allows you to add or subtract an amount to/from the current value. Pressing and holding
down a button will directly increase/decrease the value. The longer the button is down, the larger
the increase/decrease will be.
Joint positions
Allows the individual joint positions to be specified directly. Each joint position can have a value
in the range from −360
◦
to +360
◦
, which are the joint limits. Values can be edited by clicking on
the joint position. Clicking on the + or - buttons just to the right of a box allows you to add or
subtract an amount to/from the current value. Pressing and holding down a button will directly
increase/decrease the value. The longer the button is down, the larger the increase/decrease will
be.
OK button
If this screen was activated from the Move tab (see 13.1), clicking the OK button will return to the
Move tab, where the robot arm will move to the specified target. If the last specified value was a tool
coordinate, the robot arm will move to the target position using the MoveL movement type, while
the robot arm will move to the target position using the MoveJ movement type, if a joint position
was specified last. The different movement types are described in 14.5.
Cancel button
Clicking the Cancel button leaves the screen discarding all changes.
Version 3.10
Copyright © 2009–2019 by Universal Robots A/S. All rights reserved.
II-35 CB3
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