Is it possible to use RAPID to create a Robtarget projected from two existing RobTargets?

PeteMitchell

I am trying to create Robtarget defined inline from two existing robtargets, without offsetting usign tool, Frame or wObj.

lemster68

Look here:
https://github.com/ernell/ABB-RAPID-UTILITY-LIBRARY/blob/master/Contributions/RobertAndersson/lib_rob.sys
particularly for function Midpos.

PeteMitchell

@lemster68, thanks for the quick response - much appreciated. Will let you know how I get on

lemster68

You are quite welcome.

PeteMitchell

@lemster68
Sorry to say, I am struggling to get to the complete solution I am after. I have two programmed positions (p01_FirstPos and p01_lastPos)  and want to create a third position in front of the first and inline with the two positions. which i have done using your code, however I want the position to be 300mm in front, I assume its possible but cant work out the correct syntax to manipulate the target

lemster68

That is not my code.  I suppose that you could figure the vector of those points and project that in the 300mm that you need.  I am not that great with the math, though.  Maybe there is another function in that library that you can use.

PeteMitchell

been reading thru the manuals, Vector seems to the way to go but I am struggling with the syntax