Translate Poses (Predefined Mode)

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This section introduces how to translate the poses in the Predefined mode.

Only one option, Translate pose along specified direction, is available in the Predefined mode. Click the + button on the right to add a translation option.

Up to three translation options can be added.

Translate pose along specified direction

Function

This step translates the pose according to the specified direction and distance.

Usage Instructions

Translate pose in/along

This parameter is used to specify the direction along which the pose will be translated, as explained in the table below. Please select the reference frame and the axis direction according to the actual requirements.

No.

Reference frame

Axis direction

1

Robot reference frame

Positive X-direction, Negative X-direction, Positive Y-direction, Negative Y-direction, Positive Z-direction, Negative Z-direction

2

Object reference frame

X-axis, Y-axis, Z-axis

Translation distance

This parameter is used to select the method for inputting the translation distance of the pose, as explained in the following table.

No.

Method

Description

Instruction

1

Enter manually

Enter the distance of the pose translation manually.

Enter the distance of the pose translation according to the actual requirements.

2

Input from external Step

Input the translation distance from other Steps.

  1. Connect the port that outputs the value to the new input port of the “Adjust Poses V2” Step.

  2. Click Get data to receive the input distance.

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