ABB Robotstudio, Rotate around axis of a workobject

Hi Everyone,

I'm currently working with an IRB6700 in a robotic cell.
I have a custom workobject (wobjMachine) aligned with a certain machine.
I need to take a robtaget (p2), at the same coordinates of another point (p1) BUT rotated of 45 degrees around the y-axis of the wobjMachine.

How can i write it down?

I tried with:

  p2:=RelTool(p1,0,0,0,\Rx:=0,\Ry:=45,\Rz:=0);
MoveL p2, v100, fine, toolGripper\WObj:=wobjMachine;
OR
  p2:=p1;
Y:= EulerZYX(\Y, p1.rot);
X := EulerZYX(\X, p1.rot);
Z := EulerZYX(\Z, p1.rot);
p2.rot:=OrientZYX(Z,Y+45,X);
MoveL p2, v100, fine, toolGripper\WObj:=wobjMachine;

But none of theese line works, it seems it keeps reorienting around the tool, and i don't want it.

How can i do?

I've tried:

p2:=p1

wobjTemp:= wobjMachine;
X := EulerZYX(\X, wobjMachine.oframe.rot);

Y := EulerZYX(\Y, wobjMachine.oframe.rot);

Z := EulerZYX(\Z, wobjMachine.oframe.rot);

wobjTemp.oframe.rot:=OrientZYX(Z,Y+45,X);

MoveL p2, v100, fine, toolGripper\WObj:=wobjTemp;

But it tells me that the position is unreacheable, even if i can move it manually.
Am i writing it wrong?

Solved, I used:

wobjTemp.oframe := PoseMult(wobjTemp.oframe,[[0,0,0],OrientZYX(0,-45,0)]);
MoveL p2, v100, fine, toolGripper\WObj:=wobjTemp;

But i also need to save that robtarget without moving in that position. How can i do?

Quote from Lemster68

Your first one might have worked if you had left the x and z component 0, rather than assigning them like you did. Anyway, good job. Make an assingnment of that position to another robtarget after you have manipulated it as desired.

But, is there a function to convert the position from different workobject? Because now i have only the robtarget, the original workobject and the rotated workobject. I need the target rotated in the first wobjMachine. (I don't want to move in position and use CrobT)