Robot Teachpoint

Provides a tool that creates a teachpoint entity and allows you to configure its coordinate frame. The teachpoint entity can later be selected as the target of a movement instruction on the robot controller component.

Properties

• Origin: The world-space reference position of the teachpoint entity.
• Axes: Select two axes used to configure the coordinate frame. Options include XY, XZ, YX, YZ, ZX, ZY, and None.
• X/Y/Z Axis: The directions of the coordinate frame axes expressed in world-space. Each property is visible only when its corresponding axis is selected.
• Offset: The position offset specified in the local-frame after applying Gram-Schmidt.
• Angle: The angle applied about the 1st axis after constructing the Gram-Schmidt frame.
• Scale: The uniform scale of the teachpoint entity.
• Name: The name of the teachpoint entity.
• Material: The graphics material of the teachpoint entity.

Details

Position

The position of the teachpoint entity is determined by the origin and offset properties.

• The origin is the world-space reference position of the teachpoint entity.
• The offset is expressed in the local coordinate frame produced by the Gram-Schmidt process. The position offset is applied before the additional angle rotation about the 1st axis.

When Axes is set to None, the offset is applied in world-space.

Rotation

The rotation of the teachpoint entity is determined by the selected axes and angle properties.

• The 1st axis is the 1st character of XY, XZ, YX, YZ, ZX or ZY.
• The 2nd axis is the 2nd character of XY, XZ, YX, YZ, ZX or ZY.

For example, when ZX is selected, the 1st axis is Z and the 2nd axis is X.

• The 1st axis is provided by the user.
• The 2nd axis is provided by the user and used as a hint. The Gram-Schmidt process is applied to normalize it and make it orthogonal to the 1st axis.
• The 3rd axis is calculated to complete a right-handed, orthonormal XYZ coordinate frame.
• The resulting coordinate frame is then rotated by the specified angle about the 1st axis according to the right-hand rule.

For example, when ZX is selected, the user configures the Z axis and provides a hint for the X axis. The X axis is made orthogonal to the Z axis, and the Y axis is calculated from the cross product of the Z and X axes.

When Axes is set to None, the teachpoint remains aligned with the world coordinate frame, and the Angle property is ignored.

Changelog

1.0.0

Initial release.

1.0.1

Added the Axes property, allowing the user to specify the 1st and 2nd axes used to configure the coordinate frame.