Mirroring a robot program

Hi David_

Welcome to the robot forum

Try MENU, Utilities, Mirror image shift

I would try it first with a simple program

Be careful with the rotation of your Uframe bis

You can try also the Uframe Offset : MENU/UTILITIES/FRAME OFFSET

Don't forget the rotation +180° of your Z (or else)

Good Luck

Hey there!

By my experience, Mirror Shift is somewhat a challenge to get.

To overcome that, I create a new frame with the same frame coordinates but 180° in the given axis. Then, frame offset to that new frame (with position conversion on) and then back to the original frame (with position conversion off).

Hope it helps!

** Be careful this IS NOT mirroring. It may or may not work, depending on what you want to achieve or need **

Lets suppose the USER Frame you're working has the following XYZWPR coordinates (1000; 1000; 1000; 0; 0; 0) and the frame number is 1.

If you change the z rotation to 180 (or another axis, depends on what you want), then your trajectory will change accordingly. Obviously, to be similar to mirroring, you may have to use a different angle.

What I said before, instead of changing frame coordinates directly, use a different tool number to avoid mixing the original frame.

1. Use e.g. frame number 2. Put it with the same coordinates as number 1 except the rotation in z (1000; 1000; 1000; 0; 0; 180).

2. Go Utilities - Frame offset. Execute with following setup.

Old frame: 1

New frame: 2

Convert position data: NO

Your new program ( is now converted to the new frame with the 180 degrees difference.

3. (Optional) If you want to keep using the original frame, then you need run a frame offset again.

Old frame: 2

New frame: 1

Convert: YES

About the conversion option. Without convert then the point positions will be applied directly in the new frame. So, new robot path.

If you convert, then the point positions will be converted so the robot will have the same path.