TCP in wobjdata to WCS

duesentrieb66

Hello All,

in short:
How can I calculate the position of a TCP in WCS which is rotated and moved in wobjdata?

in long:
How can I figure out the current x/y/z in world coordinate system of my TCP at any given point in my software?

Thanks so much,
Duesentrieb

Johannes Weiman

Hello Duesentrieb,

What is the scope here? Are you talking about a RobotStudio addin, RAPID code, or...?

Regards,
Johannes

duesentrieb66

I am sorry to be unclear.

I am talking about RAPID code in RobotStudio.

Best, Dusko

Pavel Riabichev

Hello

Check CPos in the RAPID manual

VAR pos pos1;
MoveL *, v500, fine \Inpos := inpos50, tool1;
pos1 := CPos(\Tool:=tool1 \WObj:=wobj0);

duesentrieb66

Thank you Pavel,

as I understand CPos or CRobT are calculating the position if the robot is there.

But how can I calculation this BEFORE the robot moves there? I want to control the track of the robot. The track position is, in my case, dependent where the robtarget will be.

Thanks!

Pavel Riabichev

Then you should look at the target.

     
   var num nTargX; 

      nTargX :=  Target_30.trans.x;

And if you are offsettings you need to add that offset.
/Pavel

duesentrieb66

Here an example of my code:

<code>&nbsp;currentWobjdata.uframe.rot:=OrientZYX(i*180,0,0);<br> currentWobjdata.oframe.trans.x:=cLogEnd.tongueLength+cLogEnd.faceDepth-((currentTool.width/2)+chainsawPrecutOffset);
 currentWobjdata.oframe.trans.y:=-((cLogEnd.faceWidth/2)+chainsawPrecutOffset);
 currentWobjdata.oframe.rot:=OrientZYX(180+cLogEnd.sideAngle,0,0);

 currentRobtarget.trans.x:=fromX;
 currentRobtarget.trans.y:=fromY;
<code> currentRobtarget.extax.eax_a:=<b>here I need to know the WCS-X value of the TCP of the currentRobtarget in currentWobjdata will be</b><br> MoveL currentRobtarget,currentTool.f,fine,currentTooldata\WObj:=currentWobjdata;
 ...
 ...<br> currentWobjdata.uframe.trans.x:=currentWobjdata.uframe.trans.x+i*cLog.length;<br>

Thank you