Teach plane feature with respect to an other plane feature

Technical Questions
1

Hi,
we want to teach plane feature 2 with respect to anoter plane feature 1.
So plane 2 should be an offset to plane 1
Whenever plane feature 1 changes, plane feature 2 changes respectively.

Is that possible?

2

anfrage,

Yes that’s possible.

I’d create a Variable and assign it some values second_plane p[0,0,0,0,0,0]

then in your program second_plane = plane_1 this makes them the same now apply your offset
second_plane[#] = second_plane[#] +/- Offset value

now simply use the variable second_plane in your move command

3

thanks m.hammerton for your reply!
How do I get the offset? When I teach the plane feature in the installations tap, I can’t refer it to an existing plane, do I?
I only can teach it relative to the robot base. Then go to editd, change the reference,write the values to a piece of paper and get the offset pose variable by typing it by hand…
Is there a more straight forward way?

In addidtion, is it possible to change the value of the plane in the installations tab? I Can store it in an installations variable, but the value of the plane in die korridate systems menue remain the same.

4

anfage,

All planes are referenced from the Robot base!

You only need to teach plane_1 in the installation tab (this is the reference for your second plane)

Create a Variable in the installation Variable tab (i.e offset_plane) and set its value to p[0,0,0,0,0,0] (the numbers do not matter at this point!)

now in the program make a new assignment node
select your variable from the dropdown menu (offset_plane) = Plane_1 (also from the drop down menu)

now in the program make a new script node and write offset_plane[#] = offset_plane[#] +/- offset amount
# is the No of the coordinate you want to change (0 = X, 1 = Y, 2 = Z, 3 = RX, 4 = RY, 5 = RZ)
0 to 2 in meters, 3 to 5 in Radians

do this for all of the coordinates you want to offset

when the program is run you can see the values for offset_plane in the variables window.

now the the Move node apply the Variable (offset_plane) to the move and your position will be offset.

Once a plane is created in the Installation tab it creates a plane_1 as a Variable and a plane_1_const as a Constant)
the Variable can be modified in the program but is not saved. when a program is re run it get set back to the constant values at the beginning.

planes can be edited in the installation tab
but it is the only place a plane can be created.

5

To add on the correct answer of @m.hammerton ,

In case you would ever need to perform multiple offsets on the same pose you can use the add_pose function that is provided by URscript.

An example usage would be:

second_plane = add_pose(first_plane, p[0.5, 0, -1, 0, 0, 0])

Which means that the variable second_plane is now 50cm towards the X+ axis and 1m towards the Z- axis compared to the previous position of the variable first_plane.

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