Is it possible to use RAPID to create a Robtarget projected from two existing RobTargets?

PeteMitchell · September 28, 2021, 1:24pm

I am trying to create Robtarget defined inline from two existing robtargets, without offsetting usign tool, Frame or wObj.

lemster68 · September 28, 2021, 2:20pm

Look here:

github.com/ernell/ABB-RAPID-UTILITY-LIBRARY

Contributions/RobertAndersson/lib_rob.sys

master

MODULE lib_rob(SYSMODULE)
  !*****************************************************
  ! * Copyright (C) 2015 Robert Andersson <rob@ernell.se>
  ! *
  ! * Licensed under the Apache License, Version 2.0 (the "License");
  ! * you may not use this file except in compliance with the License.
  ! * You may obtain a copy of the License at
  ! *
  ! *      http://www.apache.org/licenses/LICENSE-2.0
  ! *
  ! * Unless required by applicable law or agreed to in writing, software
  ! * distributed under the License is distributed on an "AS IS" BASIS,
  ! * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
  ! * See the License for the specific language governing permissions and
  ! * limitations under the License.
  !*****************************************************

  !*****************************************************
  ! Module Name: lib_rob
  !

This file has been truncated. show original

particularly for function Midpos.

PeteMitchell · September 29, 2021, 12:56pm

@lemster68, thanks for the quick response - much appreciated. Will let you know how I get on

lemster68 · September 29, 2021, 1:25pm

You are quite welcome.

PeteMitchell · September 30, 2021, 8:40am

@lemster68
Sorry to say, I am struggling to get to the complete solution I am after. I have two programmed positions (p01_FirstPos and p01_lastPos) and want to create a third position in front of the first and inline with the two positions. which i have done using your code, however I want the position to be 300mm in front, I assume its possible but cant work out the correct syntax to manipulate the target

lemster68 · September 30, 2021, 11:58am

That is not my code. I suppose that you could figure the vector of those points and project that in the 300mm that you need. I am not that great with the math, though. Maybe there is another function in that library that you can use.

PeteMitchell · September 30, 2021, 12:26pm

been reading thru the manuals, Vector seems to the way to go but I am struggling with the syntax

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Is it possible to use RAPID to create a Robtarget projected from two existing RobTargets?

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