How to convert robtargets into RelTool ?

Luxrobotic

Hello everybody,

I have programmed a path with 10 robtargets and I'd like to use the same positions and orientations in several locations.



In RS, I have define p10 as UCS, and measured the coordinates and orientation by using "Set position" in Reference to UCS.
Than, I translates all these values into RelTool of p10, but the the orientations are not good.

MODULE Test_Reltool

PERS tooldata tool1:=[TRUE,[[33.0605,-2.58224,623.852],[0.70527,0.684311,-0.124657,0.137017]],[10,[-126,0,300],[1,0,0,0],0,0,0]];
PERS wobjdata Workobject_1:=[FALSE,TRUE,"",[[0,0,0],[1,0,0,0]],[[0,0,0],[1,0,0,0]]];
LOCAL CONST robtarget p10:=[[2626.815,-1311.965,716],[0.504489338,-0.503870109,0.497364595,-0.494200244],[-1,-1,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

PROC Path_10()
MoveL p10,v100,fine,tool1\WObj:=Workobject_1; MoveL [[2628.95,-1308.033,716],[0.504515415,-0.503852655,0.49736473,-0.494191282],[-1,-1,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],v100,fine,tool1\WObj:=Workobject_1;
MoveL [[2642.256,-1303.136,716],[0.624176028,-0.66672615,0.230692805,-0.335650648],[-1,-1,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],v100,fine,tool1\WObj:=Workobject_1; MoveL [[2652.047,-1303.136,716],[0.624176028,-0.66672615,0.230692805,-0.335650648],[-1,-1,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],v100,fine,tool1\WObj:=Workobject_1; MoveL [[2663.895,-1302.733,716],[0.677089133,-0.686163819,0.136868557,-0.228027449],[-1,0,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],v100,fine,tool1\WObj:=Workobject_1; MoveL [[2663.438,-1300.597,716],[0.697240238,-0.701036367,0.069420553,-0.13260788],[-1,0,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],v100,fine,tool1\WObj:=Workobject_1; MoveL [[2663.316,-1296.917,716],[0.701917682,-0.703879083,0.045638708,-0.098908611],[-1,0,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],v100,fine,tool1\WObj:=Workobject_1; MoveL [[2663.122,-1286.406,716],[0.705346406,-0.705466742,0.022276131,-0.06562695],[-1,0,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],v100,fine,tool1\WObj:=Workobject_1; MoveL [[2665.177,-1259.699,716],[0.707019341,-0.706058244,0.012839814,-0.037954524],[-1,0,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],v100,fine,tool1\WObj:=Workobject_1; MoveL [[2666.381,-1235.167,716],[0.708377405,-0.705827568,-0.001019268,0.002803323],[-1,0,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],v100,fine,tool1\WObj:=Workobject_1; ENDPROC
ENDMODULE

Is there an easy way to make this?

Thanks

graemepaulin

Copy the path to a new work object and move the workobject to the new location?

Knud E Lindberg

I do not think this will work graemepaulin, reltool is cordinated with tool cordinate system.

graemepaulin

It is not necessary to use Retool if programming offline in RobotStudio and they want to use the same path in different locations.

Luxrobotic

Hi,

I need to use my path once in one position, and use it turned 90° 3 times, in order to make a complete round around my part.
I want to have the possibility to teach only one robtarget in each corner of my part, without creating 4 different paths.

Thanks

graemepaulin

One solution could be to use the PoseMult function (see attached) to move the workobject after completing each side using the POSE from the next corners robtarget.