Am working on a Palletizing application With IRB6700 (RW6.09.0154)
I need to stack the boxes in a particular matrix for that am using an array based offset method
But am facing a problem while using a Reltool offset for Rz rotaion.
No matter what value i gave my tool Offset is happening in Clockwise Direction only. (because of some limitaion i need to rotate it in other way)
Is there anyway to specify the direction of rotation?
RECORD PalletPlacePos
pos pos_;
num Angle;
bool Singleload;
ENDRECORD
PERS PalletPlacePos PosVar5L4{24}:=[[[0,0,0],0,FALSE],[[0,-580,0],0,FALSE],[[-655,-475,0],-90,TRUE],[[-640,190,0],-90,TRUE],[[-295,0,-270],0,FALSE],[[-310,-575,-270],0,FALSE],[[388,150,-265],89,TRUE],[[388,-525,-270],89,TRUE],[[0,0,-540],0,FALSE],[[0,-580,-540],0,FALSE],[[-655,-475,-540],-90,TRUE],[[-640,190,-540],-90,TRUE],[[-295,0,-810],0,FALSE],[[-310,-575,-810],0,FALSE],[[388,150,-810],89,TRUE],[[388,-525,-810],89,TRUE],[[0,0,-1080],0,FALSE],[[0,-580,-1080],0,FALSE],[[-655,-475,-1080],-90,TRUE],[[-640,190,-1080],-90,TRUE],[[-295,0,-1350],0,FALSE],[[-310,-575,-1350],0,FALSE],[[388,150,-1350],89,TRUE],[[388,-525,-1350],89,TRUE]];
nPlaceCountL4:=nPlaceCountL4+1;
PLacePallet:=RelTool(PlaceVar5L4,PosVar5L4{nPlaceCountL4}.pos_.x,PosVar5L4{nPlaceCountL4}.pos_.y,PosVar5L4{nPlaceCountL4}.pos_.z);
nAngle:=PosVar5L4{nPlaceCountL4}.Angle;
PLacePallet:=RelTool(PLacePallet,0,0,0,\Rz:=nAngle);
MoveL PLacePallet,sSpeedPlace,fine,Eoat\WObj:=wobjPallet_L4;