Universal Robots e Series User Manual page 208

full coordinate values of that TCP relative to the selected feature. X, Y and Z control the position of
the tool, while RX, RY and RZ control the orientation of the tool.
Use the drop down menu above the RX, RY and RZ boxes to choose the orientation representation.
Available types are:
• Rotation Vector [rad] The orientation is given as a rotation vector. The length of the axis is the
angle to be rotated in radians, and the vector itself gives the axis about which to rotate. This is
the default setting.
• Rotation Vector [
is the angle to be rotated in degrees.
• RPY [rad] Roll, pitch and yaw (RPY) angles, where the angles are in radians. The RPY-rotation
matrix (X, Y', Z" rotation) is given by:
R (γ, β, α) = R
rpy
◦
• RPY [ ] Roll, pitch and yaw (RPY) angles, where angles are in degrees.
Values can be edited by clicking on the coordinate. Clicking on the + or - buttons just to the right
of a box allows you to add or subtract an amount to/from the current value. Pressing and holding
down a button will directly increase/decrease the value. The longer the button is down, the larger
the increase/decrease will be.
Joint positions
Allows the individual joint positions to be specified directly. Each joint position can have a value
in the range from
the joint position. Clicking on the + or - buttons just to the right of a box allows you to add or
subtract an amount to/from the current value. Pressing and holding down a button will directly
increase/decrease the value. The longer the button is down, the larger the increase/decrease will
be.
OK button
If this screen was activated from the Move tab (see 17), clicking the OK button will return to the Move
tab, where the robot arm will move to the specified target. If the last specified value was a tool
coordinate, the robot arm will move to the target position using the MoveL movement type, while
the robot arm will move to the target position using the MoveJ movement type, if a joint position
was specified last. The different movement types are described in 15.5.1.
Cancel button
Clicking the Cancel button leaves the screen discarding all changes.
17.4 Joint Position
The Joint Position field allows you to directly control individual joints. Each joint moves along a
default joint limit range from 360
e-Series
◦
] The orientation is given as a rotation vector, where the length of the vector
(α) · R (β) · R
(γ)
Z Y X
◦ ◦
to +360 , which are the joint limits. Values can be edited by clicking on
360
◦ ◦
to +360
II-118
, defined by a horizontal bar. Once the limit is reached
17.4 Joint Position
Version 5.4