Number of significant digits in pose orientation (Rx, Ry, Rz) [unit : radian]

Technical Questions URScript
1

I have a question regarding number of significant digits after the decimal point in pose orientation (Rx, Ry, Rz) [unit : radian].

How many digits after the decimal point are supported for the pose orientation ?
e.g. 0.001 radian ? 0.000000001 radian ?

I just want to know maximum digits after the decimal point in UR spec.
It seems no description on this in script manual.

2

Good question, someone from UR might have to answer this. I’ve seen the most through RTDE but I don’t remember how many digits it was. On pendant through the “move tab” you can see 3 decimals (milli) and if it’s through modbus it’s converted to integer so you have to divide by 1000. If you use function get_actual_joint_pos() in a program you see up to 6 decimals in the variables tab but I’m assuming any of these functions have a rounding function.

So… basically I’m not really sure, sorry. Maybe someone else can help you. Is there a specific amount you need for data recording? If you try to enter joints in radians down to thousandths of a radian (0.0001) I believe the UR rounds to 3 significant figures so there is a limitation/tolerance on what values the robot can realistically achieve. I could be wrong here but that’s what I’ve seen. Anyways hope that helps, and best of luck!

3

Hi Michael,

Thanks for sharing your experience.
Ya, I’m eager to get response from UR.