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Configure Pose Expression

For both Cartesian Pose Expressions and Joint Pose Expressions you need to specify values for each field or dimension of the Pose. The Pose Expression Configurator helps you define valid Expressions that will be evaluated and written into your Target Pose Variable.

Cartesian Pose Expression​

Cartesian Pose Expressions can either be defined with an absolute position and orientation in the Robot's Base Coordinate System or by an absolute orientation and relative offsets.

When switching the toggle to the right, an additional field will be shown that allows specifying a reference frame. In this mode, the position is defined as an offset to the Target Pose Variable. The offsets are applied in the directions specified by the Reference Pose.

Cartesian Pose Expression with offset

  • Choose a Reference Pose from the dropdown menu under "Reference Directions". The orientation of this Pose defines the directions for x, y, and z offsets.
  • Define the offsets for x, y, and z using Expressions, e.g., 200, FloatVar, or CartHome.x + 50.
  • Set the orientation by specifying a value for rz, ry, rx. You can use Expressions, e.g., 90, CartHome.ry, FloatVar + CartHome.rx

Joint Pose Expression​

Joint Pose Expressions allow you to define the desired angles for each Joint individually.

Joint Pose Expression

  • Each Expression Field corresponds to one Joint. For example, "Expression: Joint 1" defines the angle for the first Joint.
  • You can use Constants, Variables, or Mathematical Expressions, e.g., 45, Flow_JointPose.j2, or Global_JP.j3 + 10.