Values of rotation vector are different between TP and RTDE(or Ethernet/IP)

[fujikit]

I happend to find that the values of rotation vector are different between TP and RTDE.
This problem is caused in case of fieldbus, too.

If robot is CB-series, it’s no problem because the values are same.
But if robot is e-series, we have problem as shown in the picture below.

[eric.feldmann]

Inconsistent return value for TCP rotations

This is for eSeries, Polyscope 5.11.8. When using the “getTCPModel()” method to access the TCPs listed in the CAP, the value returned for rotations is NOT the same as the value returned by the script command get_tcp_offset(). Below is a screenshot of what is happening. [image] In this picture, I have typed 1 into the RX box, 2 into the RY box, and 3 into the RZ box. Immediately after pressing OK when typing 3 into RZ, all the numbers change to what you see in the picture. Not sure what it’s …

I ran into a similar scenario here