ABB PickMaster Twin - PowerPac Applications Manual page 214

4 Working with PickMaster PowerPac
4.3.5.3 Defining the base frame (IRC5)
Continued
Calculating the quaternion
Use this procedure to calculate the quaternion for the base frame orientation.
xx1900000678
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214
5 Take the x and y values from p_centre and enter them into the base frame
values for the conveyor, converting to meters, see Application
manual - Conveyor tracking. The z value will be entered later, once the work
object zero position has been chosen.
1 With the recorded angle in step 5 when calculating the x and y positions for
the base frame. This is angle
Defining the base frame orientation and start window start calibration on
page 213.
2 Calculate P
from the XP1 and YP1 coordinates of P0 and the atan function.
If the point is at first quartile or frouth quartile: Pθ = arctan(YP1/XP1)
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, see example measurement points in
Application manual - PickMaster® Twin - PowerPac
3HAC064218-001 Revision: B