Reacing a mirrored point

dry_patrick

Good morning, after defining the points to be reached, I would like to be able to move the robot on the symmetrical points with respect to the workobject, is it possible to do this without having to redefine the point?
Is there a function that can be exploited in RAPID or a way to manipulate the point definition by inverting the X coordinate and its quaternions?

I currently define the point in this way:

CONST robtarget point_10:=[[-207.763598525,357.473524905,126.76885315],[0.08151693,0.695311014,-0.700327133,0.139425577],[-1,1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

I associate it with an array:

POINTS{1}:=point_10;

And then I move to the point with:

MoveJ RelTool(POINTS{1}, offX, offY, offZ),vmax,z100,tool\WObj:=wobj;

Thank you all for the help!

Forge_Engineering

Hi Patrick, 

The Rapid Instructions, Functions and Datatypes Help found under the IRC 5 help section lists a function called MirPos which takes a robtarget and mirrors the position across the XY plane of a specified work object.

I have never used it but it looks like you would need to define a rotated work object where the XY plane aligns with the YZ plane you want to mirror across to get this to work.

There is a warning about no change being made to the confdata portion of the robtarget, so the robot configuration may not be appropriate for the new mirrored position.

Good Luck, 

Harry

dry_patrick

Thanks for the hint, and the warning about the configuration!