FB_TeachingOrientation - General Information

Overview

Type:	Function block
Available as of:	V1.8.0.0
Inherits from:	-
Implements:	IF_TeachingOrientation

This chapter provides information on:

Task
Description
Methods
Properties

Task

Estimates an orientation starting from a set of sampled positions.

Description

The function block samples a series of TCP positions of the robot and then uses this information to estimate the 3D orientation, which is provided as roll, pitch and yaw angles, and as an equivalent rotation matrix.

The estimated orientation depends on the arrangement of the scanned positions and is related to the robots coordinate system.

NOTE: The Z-axis of the taught coordinate system is always assumed to point upwards, which means that it must have a positive Z-coordinate.

Methods

Name	Description
AddSample	Adds a new sample to the active set.
EstimateOrientation	Estimates an orientation based on sampled data.
GetSample	Gets a previously stored sample.
RemoveAllSamples	Removes the last stored samples.
RemoveLastSample	Removes the last stored sample.
SetNumberOfSamplesPerSet	Defines the number of samples that must be stored in a set.

Properties

Name	Data type	Accessing	Description
udiActiveSetIndex	UDINT	Get	Index of the set that is acquired.
udiNumberOfCompleteSets	UDINT	Get	Number of sets for which the samples are acquired.
udiNumberOfSamplesInActiveSet	UDINT	Get	Number of samples acquired for the set with index udiActiveSetIndex.
udiNumberOfSamplesPerSet	UDINT	Get	Configured number of samples for each set. The number of samples is configured by calling the method SetNumberOfSamplesPerSet.