Thanks SAABoholic, i will try your idea. Here is my prog
reference pos is : PERS robtarget p_PoseRoue:=[[0,0,0],[0,0.707107,-0.707107,0],[-2,0,-2,0],[0,9E+09,9E+09,9E+09,9E+09,9E+09]];
and the routine :
PROC AvantPoseRoue()
VAR num EntraxePince;
VAR num AnglePince;
!** Affectation repere de travail **!
!** et attente autorisation depose**!
wo_Travail:=wo_PalB;
TesteInfo e_AutoPoseG,1,"Abscence d'autorisation de depose roues!"\TempsMax:=360;
!**Acquisition valeur de DEC du point de pose roue**
p_travail:=p_PoseRoue;
p_travail:=Offs(p_PoseRoue,OffsPasse{n_CptPasse,1},OffsPasse{n_CptPasse,2},0);
p_travail:=RelTool(p_travail,0,0,0\Rz:=OffsPasse{n_CptPasse,3});
p_travail.extax.eax_a:=OffsPasse{n_CptPasse,4}-ENTRAXE_PINCES;
!
ENDPROC
{n_CptPasse,3} = 0 or 90, but i want to replace 90 by -90