Basic Characteristics RAPID

obtarget Position data
Description
Components
Robtarget (robot target) is used to define the position of the robot and external axes.
Position data is used to define the position in the positioning instructions to which the
robot and external axes are to move.
As the robot is able to achieve the same position in several different ways, the axis configuration
is also specified. This defines the axis values if these are in any way ambiguous,
for example:
- if the robot is in a forward or backward position,
- if axis 4 points downwards or upwards,
- if axis 6 has a negative or positive revolution.
The position is defined based on the coordinate system of the work object, including
any program displacement. If the position is programmed with some other
work object than the one used in the instruction, the robot will not move in the
expected way. Make sure that you use the same work object as the one used when
programming positioning instructions. Incorrect use can injure someone or damage
the robot or other equipment.
trans (translation) Data type: pos
The position (x, y and z) of the tool centre point expressed in mm.
The position is specified in relation to the current object coordinate system,
including program displacement. If no work object is specified, this is the world
coordinate system.
rot (rotation) Data type: orient
The orientation of the tool, expressed in the form of a quaternion (q1, q2, q3 and q4).
The orientation is specified in relation to the current object coordinate system,
including program displacement. If no work object is specified, this is the world
coordinate system.
robconf (robot configuration) Data type: confdata
The axis configuration of the robot (cf1, cf4, cf6 and cfx). This is defined in the
form of the current quarter revolution of axis 1, axis 4 and axis 6. The first pos-
RAPID Reference Manual 7-robtarget-1