Adjust Targets to Get Correct Path
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If you need to use this Step, please click in the menu bar, and enable the "step_trajectory" plugin in the window. |
Usage Scenario
This Step is generally used to adjust the rotation angle of the robot end effector when it moves along the path.
Parameter Description
| Parameter | Description |
|---|---|
Rotation Angle |
Parameter description: Rotate the pose around the trajectory direction on XOY plane to reach correct trajectory direction. Default value: 0.0000° Tuning tips: Rotate around the XOY plane rotation axis by the specified angle to change the target pose direction. |
Z Translation after Rotation |
Parameter description: Translation distance along Z axes after rotation. Default value: 0.000 mm Tuning tips: After rotation is completed, move the specified distance along the Z direction to adjust the target pose height. |
Less Rotation around Z Axes |
Parameter description: If this option is checked, the adjustment on the target points will have less rotations around the Z axes of the target points. Default value: Unchecked Tuning tips: When this option is checked, the Z axis rotation during the adjustment process is minimized to ensure smaller changes in the coordinate system axes after rotation. |