Work object data convert.

amitC2018

Hi Experts,
Today I created a simple program in robot studio. Also created different Work Objects in system. With these work object data some targets are defined. The following data shows the workobject and tool data:

MODULE CalibData

TASK PERS tooldata Unload_Gripper:=[TRUE,[[-12.482,429.583,213.278],[1,0,0,0]],[1,[0,0,1],[1,0,0,0],0,0,0]];

TASK PERS tooldata Load_Gripper:=[TRUE,[[0.937,-418.009,232.724],[1,0,0,0]],[1,[0,0,1],[1,0,0,0],0,0,0]];

TASK PERS wobjdata Fixture_2:=[FALSE,TRUE,"",[[-1616.308182262,999.896149757,17.806],[0.93880881,0,0,0.344438699]],[[0,0,0],[1,0,0,0]]];

TASK PERS wobjdata Fixture_1:=[FALSE,TRUE,"",[[-1659.595144625,-807.777120702,17.806],[0.93880881,0,0,0.344438699]],[[0,0,0],[1,0,0,0]]];

TASK PERS wobjdata Input_Conveyor:=[FALSE,TRUE,"",[[795.674452465,-609.7385817,120.64],[0.93880881,0,0,0.344438699]],[[0,0,0],[1,0,0,0]]];

TASK PERS wobjdata Output_Conveyor:=[FALSE,TRUE,"",[[1444.669956935,-61.20414549,120.64],[0.93880881,0,0,0.344438699]],[[0,0,0],[1,0,0,0]]];

ENDMODULE

 

          Next is Robtarget according to different workobjects showing below:

TASK PERS tooldata temp_tool:=[TRUE,[[0,0,0],[1,0,0,0]],[0.001,[0,0,0.001],[1,0,0,0],0,0,0]];

TASK PERS wobjdata temp_wobj:=[FALSE,TRUE,"",[[0,0,0],[1,0,0,0]],[[0,0,0],[1,0,0,0]]];

CONST robtarget Home_Pos_New_Gripper:=[[-20.537832347,-448.747387102,1522.712328373],[0.00099236,-0.908807363,0.416988432,-0.013741906],[-1,0,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

CONST robtarget IP_Conv_Pnc_Pick:=[[245.782446943,-364.982178788,-17.180763652],[0,-0.707106781,0.707106781,0],[-1,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

CONST robtarget IP_Conv_Work_Pick:=[[245.782502249,-364.981632533,-69.567763652],[-0.000000313,-0.707106564,0.707106998,-0.000000095],[-1,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

CONST robtarget IP_Conv_Safe_Pnt:=[[245.782502249,-364.978632533,681.815236348],[-0.000000313,-0.707106564,0.707106998,-0.000000095],[-1,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

CONST robtarget Fix1_Entry_Drop:=[[178.143502249,-1664.231632533,927.499236348],[0,0.156434464,0.987688341,0],[-1,0,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

CONST robtarget Fix1_Pnc_Drop:=[[178.143719285,-1664.231632605,282.499236348],[0,0.156434465,0.987688341,0],[-1,0,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];


            These robtargets are defined with different work objects other than wobj0. Now i want to know the values of these robtargets with base cordinate (i.e. wobj0). I follow the procedure Physically Go to that position, then change workobject from current to wobj0, then read the values in jogging window. Instead of this i want programming method if available, by witch i get convert these current work object data into another work object data. I am also ready to read manuals. So anyone knows atleast topic to read please assist.

Thank You.

soup

Could convert the robtarget with wobjX to a jointtarget with CalcJointT and then reconvert it back to a robtarget with wobjY using CalcRobT.

msalminen

Tip - Study the PoseMult function... 
or make our own vector calculation as your wobj coordinates are on wobj0 and robtarget coordinates are on your wobj then robtarget coordinates on wobj0 are (vectors) wobj.coordinates+robtarget.coordinates.

Mika