How to convert robtargets into RelTool ?

RAPID Programming
1

Hello everybody,

I have programmed a path with 10 robtargets and I’d like to use the same positions and orientations in several locations.

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In RS, I have define p10 as UCS, and measured the coordinates and orientation by using “Set position” in Reference to UCS.
Than, I translates all these values into RelTool of p10, but the the orientations are not good.

MODULE Test_Reltool

PERS tooldata tool1:=[TRUE,[[33.0605,-2.58224,623.852],[0.70527,0.684311,-0.124657,0.137017]],[10,[-126,0,300],[1,0,0,0],0,0,0]];
PERS wobjdata Workobject_1:=[FALSE,TRUE,“”,[[0,0,0],[1,0,0,0]],[[0,0,0],[1,0,0,0]]];
LOCAL CONST robtarget p10:=[[2626.815,-1311.965,716],[0.504489338,-0.503870109,0.497364595,-0.494200244],[-1,-1,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

PROC Path_10()
MoveL p10,v100,fine,tool1\WObj:=Workobject_1; MoveL [[2628.95,-1308.033,716],[0.504515415,-0.503852655,0.49736473,-0.494191282],[-1,-1,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],v100,fine,tool1\WObj:=Workobject_1;
MoveL [[2642.256,-1303.136,716],[0.624176028,-0.66672615,0.230692805,-0.335650648],[-1,-1,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],v100,fine,tool1\WObj:=Workobject_1; MoveL [[2652.047,-1303.136,716],[0.624176028,-0.66672615,0.230692805,-0.335650648],[-1,-1,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],v100,fine,tool1\WObj:=Workobject_1; MoveL [[2663.895,-1302.733,716],[0.677089133,-0.686163819,0.136868557,-0.228027449],[-1,0,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],v100,fine,tool1\WObj:=Workobject_1; MoveL [[2663.438,-1300.597,716],[0.697240238,-0.701036367,0.069420553,-0.13260788],[-1,0,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],v100,fine,tool1\WObj:=Workobject_1; MoveL [[2663.316,-1296.917,716],[0.701917682,-0.703879083,0.045638708,-0.098908611],[-1,0,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],v100,fine,tool1\WObj:=Workobject_1; MoveL [[2663.122,-1286.406,716],[0.705346406,-0.705466742,0.022276131,-0.06562695],[-1,0,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],v100,fine,tool1\WObj:=Workobject_1; MoveL [[2665.177,-1259.699,716],[0.707019341,-0.706058244,0.012839814,-0.037954524],[-1,0,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],v100,fine,tool1\WObj:=Workobject_1; MoveL [[2666.381,-1235.167,716],[0.708377405,-0.705827568,-0.001019268,0.002803323],[-1,0,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],v100,fine,tool1\WObj:=Workobject_1; ENDPROC
ENDMODULE

Is there an easy way to make this?

Thanks

2

Copy the path to a new work object and move the workobject to the new location?

3

I do not think this will work graemepaulin, reltool is cordinated with tool cordinate system.

4

It is not necessary to use Retool if programming offline in RobotStudio and they want to use the same path in different locations.

5

Hi,

I need to use my path once in one position, and use it turned 90° 3 times, in order to make a complete round around my part.
I want to have the possibility to teach only one robtarget in each corner of my part, without creating 4 different paths.

Thanks

6

One solution could be to use the PoseMult function (see attached) to move the workobject after completing each side using the POSE from the next corners robtarget.
PoseMult.pdf (430 KB)