Basic Characteristics RAPID

MirPos Mirroring of a position
Example
MirPos (Mirror Position) is used to mirror the translation and rotation parts of a position.
CONST robtarget p1;
VAR robtarget p2;
PERS wobjdata mirror;
.
.
p2 := MirPos(p1, mirror);
p1 is a robtarget storing a position of the robot and an orientation of the tool. This
position is mirrored in the xy-plane of the frame defined by mirror, relative to
the world coordinate system. The result is new robtarget data, which is stored in
p2.
Return value Data type: robtarget
Arguments
The new position which is the mirrored position of the input position.
MirPos (Point MirPlane [\WObj] [\MirY])
Point Data type: robtarget
The input robot position. The orientation part of this position defines the current
orientation of the tool coordinate system.
MirPlane (Mirror Plane) Data type: wobjdata
The work object data defining the mirror plane. The mirror plane is the xy-plane
of the object frame defined in MirPlane. The location of the object frame is
defined relative to the user frame, also defined in MirPlane, which in turn is
defined relative to the world frame.
[\WObj] (Work Object) Data type: wobjdata
The work object data defining the object frame, and user frame, relative to which
the input position, Point, is defined. If this argument is left out, the position is
defined relative to the World coordinate system.
Note. If the position is created with a work object active, this work object must
be referred to in the argument.
RAPID Reference Manual 9-MirPos-1