Try making other changes in X, Y, and Z of peEX1. Remember, positive Z will move
the rectangle up. Do not use a negative Z, as this will crash the tool.
CAUTION
Do not make changes to the four quaternions, q1-q4. If quaternions are changed
manually, errors could occur. Quaternions must be normalized, so it is not
possible to choose numbers randomly.
Advanced
Look at the robtarget data using the same technique for looking at pose data. Note
that the robtarget data does not change when the rectangle is moved using the
displacement frame.
40 Application manual - SmarTac
3HAC024845-001 Revision: A
© Copyright 2004-2016 ABB. All rights reserved.
4 User's guide
4.3 Exercise 1: program displacement
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