Parameter(s) Description
x,y,z,
r1,r2,r3
Parameters x,y,z are distances in millimeters, r1,r2,r3 are rotations in
degrees.
In commands using a robot mounted sensor: The robot tool center point
position expressed in a robot base.
In Alignment.Align or Alignment.LocateTarget responses:
The alignment target position relative to the sensor. Note that the
x,y,z,r1,r2,r3 results are for information only, and are not used in
the robot program.
In Run.Locate responses using a stationary sensor: The located part
position relative to the reference part, expressed in the work plane base
defined with the alignment target. This result is used as a correction to the
original pick pose in the robot program.
In Run.Locate and Alignment.HandEye.Calculate responses
using a robot mounted sensor: An absolute position of the part or alignment
target, expressed in the same robot base as was used in the command.
7 OPERATION
66
O P E R A T I N G I N S T R U C T I O N S | PLOC2D 4.1 8020736/1K3Z/2023-06 | SICK
Subject to change without notice
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