ABB SmarTac - Page 101

RefP3
Data type: robtarget
Reference point number three. (Defined in WObj.)
DispP1
Data type: pose
Displacement frame affecting reference point RefP1.
DispP2
Data type: pose
Displacement frame affecting reference point RefP2.
DispP3
Data type: pose
Displacement frame affecting reference point RefP3.
Limitations
The reference points can be any three points in space, but they must be defined
in the reference work object. Similarly, the displacements should be related to the
reference work object.
The reference points do not have to be the same points as those used in defining
the reference work object.
Syntax
OFrameChange '('
[ WObj ':=' ] < expression (IN) of wobjdata > ','
[ RefP1 ':=' ] < expression (IN) of robtarget > ','
[ RefP2 ':=' ] < expression (IN) of robtarget > ','
[ RefP3 ':=' ] < expression (IN) of robtarget > ','
[ DispP1 ':=' ] < expression (IN) of pose > ','
[ DispP2 ':=' ] < expression (IN) of pose > ','
[ DispP3 ':=' ] < expression (IN) of pose > ')'
Related information
Described in:
PDispAdd - Add program displacements on page 98PDispAdd
PoseAdd - Adds the translation portions of pose data on page 99PoseAdd
Technical reference manual - RAPID Instructions, Functions and
Data types
Data type pose
Technical reference manual - RAPID Instructions, Functions and
Data types
Data type wobjdata
Technical reference manual - RAPID Instructions, Functions and
Data types
Data type robtarget
Application manual - SmarTac 101
3HAC024845-001 Revision: A
© Copyright 2004-2016 ABB. All rights reserved.
6 RAPID reference
6.2.2 OFrameChange - Create a new shifted object frame
Continued