Create new wobjdata

RobotStudio
1

I need to create a new wobjdata with an offset and a rotiation. Is there any convenient way to do this in Rapid?

Basically I have a wobjdata (wobjC ) coming from a calibration session, that I need to create a new wobjdata from ( to make the program simpler to understand) I need to move the wobjC a bit in the X and Y direction and rotate it 180 degrees around Z.

Is there any convenient way to do this?

2

copy the wobjdata you have.
Use the copied wobjdata

modify the components of the copied wobjdata.

and execute your commands or instructions as per the edited “copied wobjdata”.

3

This works fine in RobotStudio, however I needed to do so in generated RAPID code:

Please note that this just copies a a wobjdata and modifies the oframe stuff. Ideally I would like to compute a “fresh” wobjdata as the sum of the old wobjdata and the oframe stuff. However this requires a proper 3D Vector Api ( I will use Microsofts Media3D namespace to do this at some point in time )

However, In C# the construction of a new wobjdata looks like this.

//Create tobjdata variable for the rap polishing program
RapidData rd_woCalibLathe = controller.Rapid.GetRapidData(“T_ROB1”,“MSystemVars”,“woCalibLathe”);

WobjData woCalibLathe = (WobjData)rd_woCalibLathe.Value;

//System.Windows.Media.Media3D.Vector3D v3d = new System.Windows.Media.Media3D.Vector3D(woCalibLathe.Uframe.Trans.X

WobjRapProgram = woCalibLathe;
WobjRapProgram.Oframe.Trans.Z = (float)DistToLathe;

Orient o = new Orient();
o.Q1=0.5;
o.Q2=0.5;
o.Q3=0.5;
o.Q4=-0.5;
WobjRapProgram.Oframe.Rot = o;

this.WriteToModule(“PERS wobjdata wobjRapProgram:=”+WobjRapProgram.ToString()+“;”);

4

Hi,

Perhaps the posting in
http://forums.robotstudio.com/forum_posts.asp?TID=3473&KW=brantmark
may provide some inspiration.