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APT CLS files in RoboDK - tool orientation

I'm working with a .cls files from NX y I would like to understand how RoboDK do the translation of each points to targets. In this CLS file I only have xyz ijk, how RoboDK convert this to Euler angles? Because I need two vectors to define the Euler angles, does RDK assume that the second vector is paralalel to X/Y axis or is calculated from actual point to next point?

RoboDK takes the ijk vector from the CLS file. This vector defines the tool axis. Including position, this gives you a 5-axis constrain.

RoboDK automatically calculates the full orientation (pose) for each point, so when you generate a program it gives you Euler angles.

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