Mirror function

  • Dear All,


    Any idea how to activate and use mirror function in Kawasaki .
    I have same piece on right and left of robot and I want to use the same program on both sides.


    Regards,

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  • If you do get it enabled:
    - Can only be used to convert BLOCK programs using the YZ Plane.
    - It does not copy the program, or copy the locations, it recalculates them, therefore the original locations are overwritten.
    - Copy the program first before you execute it, if you wish to retain the original program/locations.
    - Make sure your external peripherals allow for mirror symmetry to avoid collisions.
    - Always check results after, possible close to singularity postures may not be correct.

  • There is information in the Operations Manual.
    - Explanation of function.
    - Some screenshots of the Aux Function.
    - Bullet point specifying applicable for BLOCK programming only.


    Does exactly what it says in terms of mirroring in simulation and on a live robot, I remember back in the day trying it out by picking an object up off a conveyor.
    Took some measurements, placed the object using the exact measured values in relation to the YZ plane and worked a treat.

  • Hello guys ,


    two questions please :


    1- is "MIRROR" function which is accessible from the teach-pendant can be used as AS command in a program ?

    if yes ; how to call it in AS program ?


    2- Second question ; "JOINT SHIFT" in Aux. Functions in Teach-pendant ; what is the equivalent command for it in AS language ?

    Bshift , Tshift , Tool Adjust ; all are equivalent commands in AS language to available functions in "Program Conversion" Aux. menu except "JOINT SHIFT" not found in the manual .


    Thanks in advance .

    Regards,<br /><br />SAQER ALI<br />ROBOTICS WORLD FZE

  • 1. The mirror function is for BLOCK programming only.

    - It appears to be an internal macro that effectively 'polls' through each joint angle to re-calculate the 'symmetrical YZ plane' results.

    - The program remains the same, but you will notice the joint angles will have been re-calculated.

    - See attached note from the Operational Manual.


    2. There is no single JOINT SHIFT instruction in AS from what I know (but AS is an extensive Programming language, there could well be).

    - However what you do have is a selection of commands available to accomplish this:


    DECOMPOSE jt[1] = #test_position; Obtain all joint angles, as real values and store them as array elements.


    POINT #new_position = #PPOINT(jt[1]+10,jt[2],jt[3],jt[4],jt[5],jt[6]); Use the array elements, create new posture and include a change - 10 degs added to Jt[1].


    JMOVE #PPOINT (jt[1],jt[2],jt[3],jt[4],jt[5],jt[6]); Basic AS Motion using real values of the array elements (therefore these reals could be changed before use).

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