I'm trying to mirror a bunch of robot jobs from left to right on the robot (around the XZ plane in base coordinates) And I have used this before but I'm having an issue currently.
As soon as I mirror the job, the new mirrored job has "OV" written beside the positions. The OV is because the mirror function isn't calculating the S axis positions correctly (this is an HP20 6 axis robot)
The first few positions should rotate the S axis almost a full 180 degrees (about 160 or 170 actually). So the S axis starts at 0, then the first position goes to about 220,000 pulse counts (going from memory here) in the original job. Now I would expect the Mirror function to put in a value of -220,000 for this particular axis in the mirrored job, however what it's doing is putting in a positive value of 270,000.
I think instead of changing direction from CCW to CW, the robot is trying to get all the way around by going CCW past the 180 degree point.
Is there a way to force the mirror function to go the other way for this particular axis? Set up a soft limit, or some other parameter? Or have I just encountered one of the limitations of the mirror function?
I don't think either of the other mirror options would work for me (pulse, user coordinates) so I'd really like to get this to work.
Thanks!