Move relative to world?

jthyge

Hello,

I am trying to make a pick up sequence for at depalletizing robot. (Study project) 

To use the sequence on several pallets, and box positions i would like to make a relative move. Is there a move function, to move relative to world coordinates?
I would like to change this code, so i can use it on more pallets. 


Best regards

Jesper

graemepaulin

The offset function offsets the robtarget and returns the resultant offset robtarget to in this case the move instruction.
The move instruction may be referenced to a workobject in which case the x, y, z directions are those of the work object, if no workobject in the move instruction then they will be referenced to the robot base frame.

 So in your example this becomes: MoveL offs(A1,-100, -100, 100), v100 ,fine, \wobj:=wobj184;

jthyge

Ok, so the robottarget in a Offs only defines the orientation, not the location? That would work then. 

Thanks :-) 

graemepaulin

The offs values are added to the robotarget values for the location.

jthyge

Ok, thanks for the explanation. Then the offs will not work i my case. 
I need a function to move eg. 1500 down, no matter the location of the robot. So that i can use the PickUp PROC in all locations on the pallet/pallets.
Maybe absolute movement would be the right word. 
When i read the RAPID technical reference, this is not possible?

What solution should user, so i can reuse the same piece of code for at PickUp, i different locations? 

lemster68

Use CRobT function to store the current position in a robtarget variable, then use Offs(pVariable,0, 0, -1500).

jthyge

Perfect, that was just the function i needed. 
Thanks.