Can anyone tell me, How to define Mirror option? Describe it Briefly?
Thank you.
Can anyone tell me, How to define Mirror option? Describe it Briefly?
Thank you.
I'm Copying and Pasting this directly from the Rapid Manual
MirPos - Mirroring of a position
Usage: MirPos (Mirror Position) is used to mirror the translation and rotation parts of a
position.
Basic examples
CONST robtarget p1:= [...];
VAR robtarget p2;
PERS wobjdata mirror:= [...];
...
p2 := MirPos(p1, mirror);
p1 is a robtarget storing a position of the robot and an orientation of the tool. This
position is mirrored in the xy-plane of the frame defined by mirror, relative to the
world coordinate system. The result is new robtarget data, which is stored in p2.
Return value
Data type: robtarget
The new position which is the mirrored position of the input position.
Arguments
MirPos (Point MirPlane [\WObj] [\MirY])
Point
Data type: robtarget
The input robot position. The orientation part of this position defines the current
orientation of the tool coordinate system.
MirPlaneMirror Plane
Data type: wobjdata
The work object data defining the mirror plane. The mirror plane is the xy-plane of
the object frame defined in MirPlane. The location of the object frame is defined
relative to the user frame (also defined in MirPlane) which in turn is defined
relative to the world frame.
[\WObj]
Work Object
Data type: wobjdata
The work object data defining the object frame and user frame relative to which
the input position Point is defined. If this argument is left out the position is defined
relative to the World coordinate system.
NOTE!
If the position is created with an active work object, this work object must be referred
to in the argument.
[\MirY]
Mirror YData type: switch
If this switch is left out, which is the default behavior, the tool frame will be mirrored
with regards to the x-axis and the z-axis. If the switch is specified the tool frame
will be mirrored with regards to the y-axis and the z-axis.
Limitations
No recalculation is done of the robot configuration part of the input robtarget data.
If a coordinate frame is used, the coordinated unit has to be situated in the same
task as the robot.
Syntax
MirPos’(’
[ Point ’:=’ ] < expression (IN) of robtarget>’,’
[MirPlane’ :=’] <expression (IN) of wobjdata>’,’
[’\’WObj ’:=’ <expression (IN) of wobjdata> ]
[’\’MirY ]’)’
A function with a return value of the data type robtarget.