Installation manual

Chapter 6 Programming
6-100
(b)Rotational motion conversion matrix control
Rotational motion is performed through multiplying tip position/orientation (T-matrix) of
playblack trajectory created from teach data by conversion matrix including rotation offset
value (on V, Y and Z axis) of the base coordinate system.
Program description:
① Acquires playback teach data. ：pa_add_pnt
② Sets rotational motion conversion matrix. ： pa_set_mtx
Creates conversion matrix (T-matrix) adding rotation offset (△Yaw，△Pitch and △
Roll) on X, Y and Z axis in the base coordinate system.
ｎx ｏx ａx ０
Ｔ ＝ ｎy ｏy ａy ０
ｎz ｏz ａz ０
③ Moves the current point to the top teach data. ： pa_chg_pnt
pa_mov_pnt
（or pa_axs_pnt）
④ Starts playback control. ： pa_ply_pnt
2`
6`
3`
4`
ΔYaw, ΔPitch, ΔRoll
1
2
1`
65
43
Base coordinate
5`
Y
X
Z
21
Y
4
3
65
Base coordinate
X
Z