# Work object data convert.
**URL:** https://tech-community.robotics.abb.com/t/work-object-data-convert/8223
**Category:** RobotStudio
**Tags:** workobject
**Created:** [May 10, 2018, 5:37am UTC](https://tech-community.robotics.abb.com/t/work-object-data-convert/8223 "2018-05-10T05:37:30Z")
**Posts on this page:** 3
**Page:** 1
### Author:  [@amitC2018](https://tech-community.robotics.abb.com/u/amitC2018)
#### Post date: [May 10, 2018, 5:37am UTC](https://tech-community.robotics.abb.com/t/work-object-data-convert/8223/1 "2018-05-10T05:37:30Z")
Hi Experts,
Today I created a simple program in robot studio. Also created different Work Objects in system. With these work object data some targets are defined. The following data shows the workobject and tool data:
MODULE CalibData
TASK PERS tooldata Unload\_Gripper:=[TRUE,[[-12.482,429.583,213.278],[1,0,0,0]],[1,[0,0,1],[1,0,0,0],0,0,0]];
TASK PERS tooldata Load\_Gripper:=[TRUE,[[0.937,-418.009,232.724],[1,0,0,0]],[1,[0,0,1],[1,0,0,0],0,0,0]];
TASK PERS wobjdata Fixture\_2:=[FALSE,TRUE,“”,[[-1616.308182262,999.896149757,17.806],[0.93880881,0,0,0.344438699]],[[0,0,0],[1,0,0,0]]];
TASK PERS wobjdata Fixture\_1:=[FALSE,TRUE,“”,[[-1659.595144625,-807.777120702,17.806],[0.93880881,0,0,0.344438699]],[[0,0,0],[1,0,0,0]]];
TASK PERS wobjdata Input\_Conveyor:=[FALSE,TRUE,“”,[[795.674452465,-609.7385817,120.64],[0.93880881,0,0,0.344438699]],[[0,0,0],[1,0,0,0]]];
TASK PERS wobjdata Output\_Conveyor:=[FALSE,TRUE,“”,[[1444.669956935,-61.20414549,120.64],[0.93880881,0,0,0.344438699]],[[0,0,0],[1,0,0,0]]];
ENDMODULE
Next is Robtarget according to different workobjects showing below:
TASK PERS tooldata temp\_tool:=[TRUE,[[0,0,0],[1,0,0,0]],[0.001,[0,0,0.001],[1,0,0,0],0,0,0]];
TASK PERS wobjdata temp\_wobj:=[FALSE,TRUE,“”,[[0,0,0],[1,0,0,0]],[[0,0,0],[1,0,0,0]]];
CONST robtarget Home\_Pos\_New\_Gripper:=[[-20.537832347,-448.747387102,1522.712328373],[0.00099236,-0.908807363,0.416988432,-0.013741906],[-1,0,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget IP\_Conv\_Pnc\_Pick:=[[245.782446943,-364.982178788,-17.180763652],[0,-0.707106781,0.707106781,0],[-1,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget IP\_Conv\_Work\_Pick:=[[245.782502249,-364.981632533,-69.567763652],[-0.000000313,-0.707106564,0.707106998,-0.000000095],[-1,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget IP\_Conv\_Safe\_Pnt:=[[245.782502249,-364.978632533,681.815236348],[-0.000000313,-0.707106564,0.707106998,-0.000000095],[-1,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Fix1\_Entry\_Drop:=[[178.143502249,-1664.231632533,927.499236348],[0,0.156434464,0.987688341,0],[-1,0,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget Fix1\_Pnc\_Drop:=[[178.143719285,-1664.231632605,282.499236348],[0,0.156434465,0.987688341,0],[-1,0,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
These robtargets are defined with different work objects other than wobj0. Now i want to know the values of these robtargets with base cordinate (i.e. wobj0). I follow the procedure Physically Go to that position, then change workobject from current to wobj0, then read the values in jogging window. Instead of this i want programming method if available, by witch i get convert these current work object data into another work object data. I am also ready to read manuals. So anyone knows atleast topic to read please assist.
Thank You.
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### Author:  [@soup](https://tech-community.robotics.abb.com/u/soup)
#### Post date: [May 10, 2018, 12:49pm UTC](https://tech-community.robotics.abb.com/t/work-object-data-convert/8223/2 "2018-05-10T12:49:33Z")
Could convert the robtarget with wobjX to a jointtarget with [CalcJointT](http://developercenter.robotstudio.com/BlobProxy/manuals/RapidIFDTechRefManual/doc336.html) and then reconvert it back to a robtarget with wobjY using [CalcRobT](http://developercenter.robotstudio.com/BlobProxy/manuals/RapidIFDTechRefManual/doc337.html).
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### Author:  [@msalminen](https://tech-community.robotics.abb.com/u/msalminen)
#### Post date: [May 10, 2018, 10:37pm UTC](https://tech-community.robotics.abb.com/t/work-object-data-convert/8223/3 "2018-05-10T22:37:22Z")
Tip - Study the PoseMult function…
or make our own vector calculation as your wobj coordinates are on wobj0 and robtarget coordinates are on your wobj then robtarget coordinates on wobj0 are (vectors) wobj.coordinates+robtarget.coordinates.
Mika