Mirroring wobj0 for pallet application

pacijent

Hello to all, we created program for complex pattern palletizing for one side pallet, now we would like to do mirroring of this pattern for the pallet on the other side of robot. Path has many offset instructions and RobotStudio is not able to provide path mirroring. All targets are created in wobj0. Is there some possibility to do mirroring of this path with new wobj for the other side? We tried with MirPos and oframe.trans instrucitions but without success. Thanks a lot in advance. 

mandolas

Hi...

Did you try to calculate the position?

CalcJointT(CRobT(\Tool:=usedToolL\WObj:=usedObjectL_1),usedToolL\WObj:=usedObjectL_2)

Using the example above, it is possible, from the current position with object1, to calculate position 2 with object 2.

See how to use it, I believe it will help.

Good Jobs.