Basics of Path Interpolation
2.14 Motion sequence on the path object
TO Path Interpolation
70 Function Manual, 11/2010
2.14.2 Motion sequence – fundamentals
2.14.2.1 Defining an OCS reference position
The reference position of the OCS is defined compared to the BCS in the OCS basic frame.
The OCS basic frame contains the translation of the Cartesian X-, Y-, and Z-axes and the
subsequent rotation at the individual axes.
To define the reference position of the OCS, the translation is performed first:
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Figure 2-58 Translation of the OCS compared to the BCS
The rotations are then performed in the following sequence:
1. Roll at the X axis
2. Pitch at the (already turned) Y axis
3. Yaw at the (already twice-turned) Z axis
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Figure 2-59 Rotations of the OCS
The _setPathObjectOcs() command can be used to set the basic frame for each OCS on the
path object. Either default values in the system variables can be used or other values
specified directly.
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