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G68.2 with RPY option

Hi! 

 

It´s possible to use RPY option with G68.2 instead of euler angles?

 

I take sim_05_fanuc_mm MCF parser and i get and error executing my gcode. 

       G68.2 P1 Q123 X0 Y0 Z0 I-90 J0 K-90.

 

What method is executed for calculate matrixrotation?

 

Best regards

Ivan

2 REPLIES

Re: G68.2 with RPY option

Hi

 

Please ref custom commands  PB_CMD_set_csys for  matrix calculation or import custom command pb_cmd_coordinate_system_rotation.tcl and check in PB_CMD_set_csys.

Re: G68.2 with RPY option

Hi,

The standard Fanuc parser only works with G68.2 for Euler angles (without P parameter).
If you want to use another format G68.2 P1, you should edit this parser and add the handler of P parameter there. For P1 the following method of calculation can be used:

calculateRotMatrix(LV_i*PI/180.0,LV_j*PI/180.0,LV_k*PI/180.0,"RPY")

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