Keep rotation angles from one point to another

Quote from Fabian Munoz

Im using vision to pick up a part .

I have few simple motions

Approach------------------------------------------------------------------------

TriggIO TriggVac, 50,\DOp:=do16_VacOn, 1;

TriggJ Offs(pPick,0,0,50),v7000,TriggVac,z10,tPointer\WObj:=wobjVision;

Pick.--------------------------------------------------------------------------------

MoveL Offs(pPick,0,0,PartHeight),v1000,fine,tPointer\WObj:=wobjVision;

Departure-----------------------------------------------------------------------

pTemp:= CRobT (\Tool:= tPointer \WObj:= wobjvision);

Movel RelTool(pTemp,0,0,-50),v3000,z10,tPointer\WObj:=wobjvision;

All this works fine. From here I want to go to a mid point (between pick and place) BUT I want to keep the rotation (axis 6).

Remember that I Just pick a part and the angle was giving to me by the camera

I have this

There is a column that I need to avoid. QUESTION: How do I get to this point with the orientation of my last pick up ?

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MoveJ\Conc, pInteference, vmax, z100, tPointer;

Approaching place

MoveJ\Conc, pAppPlace, vmax, z100, tPointer;

Display More

Why not Reltool again to the position? Otherwise, after you move up and away,

pTemp:=CRobT(\Tool:= tPointer \WObj:= wobjvision);

pInterference.rot:=pTemp.rot;

Great, you are welcome.