Oframechange - Create A New Shifted Object Frame - ABB SmarTac Applications Manual

6 RAPID reference

6.2.2 OFrameChange - Create a new shifted object frame

6.2.2 OFrameChange - Create a new shifted object frame
Usage
OFrameChange is a function that returns a work object based on a required
reference work object, three reference points, and three corresponding
displacements, described within the reference work object.
Basic examples
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The movement of the points p1, p2, and p3 described by displacement frames
pe1, pe2, and pe3, is superimposed over the object frame of the reference work
object, obREF. The new work object, obNEW, has this new object frame and the
original user frame information from obREF.
Return value
Data type: wobjdata
The new work object.
Arguments
WObj
Data type: robtarget
Reference work object.
RefP1
Data type: robtarget
Reference point number one. (Defined in WObj.)
RefP2
Data type: robtarget
Reference point number two. (Defined in WObj.)
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obNEW:=OframeChange(obREF, p1, p2, p3, pe1, pe2, pe3);
OFrameChange ( WObj RefP1 RefP2 RefP3 DispP1 DispP2 DispP3)
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Application manual - SmarTac
3HAC024845-001 Revision: A