assign wobj values to robtarget

Robot Controller
1

Hi

I would like to assign a work objects, Object frame value, to a robtarget position. I.E. X,Y,Z and Q1,Q2,Q3,Q4.

Will this require DOT notation, or are their any functions that do this?

Any Examples available?

Many thanks

Simon Turner

2

Hi

I think this will do what you want

tAlign.tframe.trans.x:=obTEMP.uframe.trans.x;
tAlign.tframe.trans.y:=obTEMP.uframe.trans.y;
tAlign.tframe.trans.z:=obTEMP.uframe.trans.z;
tAlign.tframe.rot.q1:=obTEMP.uframe.rot.q1;
tAlign.tframe.rot.q2:=obTEMP.uframe.rot.q2;
tAlign.tframe.rot.q3:=obTEMP.uframe.rot.q3;
tAlign.tframe.rot.q4:=obTEMP.uframe.rot.q4;

Best Regards

Kurt Reimer