6DOF_AXIS

block name: 6DOF_AXIS

ID: none - SIM card function block

short description: the block is used to display the coordinate system in a 3D view in UNITY

inputs (6):

- x (R) - position in the 'x0' axis of the origin of the effector's coordinate system (joint no. 6 set), i.e. the point (0, 0, 0) in the effector's coordinate system in relation to the coordinate system of the robot's base

- y (R) - position in the 'y0' axis of the origin of the effector's coordinate system (joint no. 6 set), i.e. the point (0, 0, 0) in the effector's coordinate system in relation to the coordinate system of the robot's base

- z (R) - position in the 'z0' axis of the origin of the effector's coordinate system (joint no. 6 set), i.e. the point (0, 0, 0) in the effector's coordinate system in relation to the robot's base coordinate system

- rot_x (R) - first Euler angle - orientation in [Rad] of the coordinate system

- rot_y (R) - second Euler angle - orientation in [Rad] of the coordinate system

- rot_z (R) - third Euler angle - orientation in [Rad] of the coordinate system

outputs (2):
collision (B) - collision
err (B) - error

Settings: none

Operation description:

block on the diagram commands the connected Cartesian coordinate system in the 3D view.