When sending the TCP position over Profinet, I seem to get random values not related to the ones shown in the Polyscope.
I select the desired TCP in Polyscope, select the base coordinate system as the refference system, but never get the values shown in Polyscope sent over Profinet. Sometimes the values just have different signs (+/-), sometimes they seem as completely unrelated values.
For example:
The positions are described in TCP / PLC order
- X = -111.43 mm / -0,1114479 m
- Y = 468,93 mm / 0,4689239 m
- Z = 316,21 mm / 0,3162044
- RX = 3,144 rad / -3,13312 rad
- RY = -0,131 rad / 0,1306847 rad
- RZ = 0,034 rad / -0,0334696 rad
Ex. 2:
- X = 376,06 mm / 0,3760532 m
- Y = 301,48 mm / 0,3014944 m
- Z = 316,21 mm / 0,3162083 m
- RX = 2,577 rad / 2,57678 rad
- RY = -1,785 rad / -1,785165 rad
- RZ = 0,033 rad / 0,03292881 rad
Ex. 3:
- X = 301,94 mm / -0,3… m
- Y = 70,16 mm / 0,07… m
- Z = 822,90 mm / 0,82… m
- RX = 2,642 rad / -1,28 rad
- RY = -0,157 rad / 0,07 rad
- RZ = 3,292 rad / -1,6 rad
This is obstructing me from exchanging the positions with the robot. If i receive the value over profinet, save it and send it exactly the same back to the robot, he tries to move to a completely unrelated point.
Is it a matter of different coordinate systems being used to show the values and send them to profinet? Where can i then find these values that are being sent?