Transform part relative to UCS

leamus

Hello,

 

I want to position a part relative to an UCS in VBA.  I Do the folowing:

Sets UCS

Define the Transformation

Then I would like to use The WCSToUCS, but this gives me troubles.

Regards

 

Michael

Per Svensson

Hi Michael

Here comes a example how to position relative

This example will set part p1 to ucs and then position part p2 relativ ucs 100mm in X and 100 mm in Y

Sub RelativeUCS()
    Dim p1 As Part
    Dim p2 As Part
    Dim t As New Transform
   
   
    t.x = 0.1
    t.y = 0.1
    t.z = 0
   
    t.Rx = 0
    t.Ry = 0
    t.Rz = 0
   
    Set p1 = ActiveStation.Parts(1)
    Set p2 = ActiveStation.Parts(2)
   
    ActiveStation.UCS = p1
   
    p2.Transform = UCSToWCS(t)

End Sub

 

John Wiberg

Or here is another example:

Sub RelativeMove()

    Dim tfmT As New Transform
    tfmT.x = 0
    tfmT.y = 0
    tfmT.z = 1
    tfmT.Rx = 0
    tfmT.Ry = 0.785398163397448 '45?
    tfmT.Rz = 0.785398163397448 '45?
   
    Dim prt1 As Part
    Set prt1 = ActiveStation.Parts.Add
    prt1.Transform = tfmT
    prt1.ShowCoordinateSystem = True 'displays the parts coord in the gfx
    MsgBox prt1.Name & " created."
   
    Dim prt2 As Part
    Set prt2 = ActiveStation.Parts.Add
    prt2.ShowCoordinateSystem = True 'displays the parts coord in the gfx
    MsgBox prt2.Name & " created."
   
    ActiveStation.UCS = prt1
    MsgBox prt1.Name & " set as UCS."
   
    tfmT.x = 0
    tfmT.y = 0
    tfmT.z = 0.5
    tfmT.Rx = 0
    tfmT.Ry = 0
    tfmT.Rz = 0
   
    prt2.Transform = UCSToWCS(tfmT)
    MsgBox prt2.Name & " placed 500 mm relative to direction of " & prt1.Name & "."
   
    MsgBox "Cleanup."
    ActiveStation.UCS = ActiveStation 'resets the UCS
    prt1.Delete
    prt2.Delete
    MsgBox "Cleanup finished."

End Sub

Per Svensson

Another example that use the RobotStudio Math Util (no need to set UCS). You need to add a reference to the RobotStudio Math util (tools
eferences)

This example only handles parts , but I think you get the idea, and it moves part2(p2) 100mm in part1(p1) x direction.

If you have for example a lot of stuff in your station using the Math Util is much more faster than setting the UCS all the time.

Sub MoveRelativeTo(MoveObject As Part, RelativeObject As Part, DirectionValues As Variant)
    Dim tmpTransform As Transform
    Dim tmpVector As RsMathVector
    Dim tmpMatrix As RsMathMatrix

    On Error Resume Next

    Set tmpTransform = RelativeObject.Transform
   
    tmpMatrix = RsMath_TransformToMatrix(tmpTransform)
   
    tmpVector.x = UnitToAPI(rsQuantityLength, DirectionValues(0))
    tmpVector.y = UnitToAPI(rsQuantityLength, DirectionValues(1))
    tmpVector.z = UnitToAPI(rsQuantityLength, DirectionValues(2))
   
    tmpMatrix.pos = RsMath_mult_mat_vec(tmpMatrix, tmpVector)
   
    MoveObject.Transform.Position = RsMath_MatrixToTransform(tmpMatrix).Position

    ActiveStation.Refresh

End Sub

Sub TestRelative()
    Dim p1 As Part
    Dim p2 As Part
    Dim Values(0 To 2) As Variant
   
    'x,y,z directions
    Values(0) = 100
    Values(1) = 0
    Values(2) = 0
   
    Set p1 = ActiveStation.Parts(1)
    Set p2 = ActiveStation.Parts(2)
   
    MoveRelativeTo p2, p1, Values
End Sub