ABB PickMaster Twin - PowerPac - Page 215

If the point is at second quartile or third quartile: Pθ = π + arctan(YP1/XP1)
Tip
If the calculation tool provide the arctan2 function, there is no need to judge
the quartile and use Pθ = arctan2 (XP1, YP1) directly.
3 Calculate the value of Base.
4 Calculate the quaternion for the base frame taking into account the direction
of rotation:
Counter clockwise rotation:
q1 = cos(Base /2)
q2 = 0.0
q3 = 0.0
q4 = sin(Base /2)
Clockwise rotation:
q1 = 0.0
q2 = cos(Base /2)
q3 = –sin(Base /2)
q4 = 0.0
5 Enter the value for z (in meters) from p_0, and the values for the quaternions,
q1, q2, q3, and q4, into the base frame for the conveyor.
Application manual - PickMaster® Twin - PowerPac 215
3HAC064218-001 Revision: B
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4 Working with PickMaster PowerPac
4.3.5.3 Defining the base frame (IRC5)
Continued