3. 选择需要镜像的轨迹和生成新的轨迹名称，在高级选项下保持默认（不要做任何修改！！）
 

 

4. 点击确定后，机器人会自动创建一个新坐标系workobject_2_m0，坐标系原点与workobject_2基于base坐标系的xz平面对称，workobject_2_m0的方向为workobject_2绕Base坐标系的xz平面镜像，实际实现方式为新坐标系的欧拉角rx和rz与原坐标系取反，ry不变。（由于坐标系均满足右手系，故不可能出现以下这种坐标系对称）
 

上图的产品新坐标系不存在，不满足右手坐标系法则！！！
 

自动计算的镜像工件坐标系workobject_2_m0
 

 

5. 自动生成的镜像点位与原位置基于base坐标系的xz平面镜像，姿态也与base坐标系下的xz平面镜像（同样由于坐标系右手法则问题）。机器人会将计算结果自动转化到新对称坐标系workobject_2_m0下
 

6. 此时若实际产品2位置与产品1位置不是基于base坐标系对称，则只需要重新修改工件坐标系workobject_2_m0即可。
 

TASK PERS wobjdata Workobject_2_m0:=[FALSE,TRUE,"",[[963.8497,-217.568,653.7108],[0.663061833,0.025781683,0.110690884,-0.739886369]],[[0,0,0],[1,0,0,0]]];
TASK PERS wobjdata Workobject_2:=[FALSE,TRUE,"",[[963.849742783,217.567959313,653.710748324],[0.663061833,-0.025781683,0.110690884,0.739886369]],[[0,0,0],[1,0,0,0]]];

PROC Path_20()
MoveL Target_10,v200,z0,tWeldGun\WObj:=Workobject_2;
MoveL Target_20,v200,z0,tWeldGun\WObj:=Workobject_2;
MoveL Target_30,v200,z0,tWeldGun\WObj:=Workobject_2;
MoveL Target_40,v200,z0,tWeldGun\WObj:=Workobject_2;
MoveL Target_50,v200,z0,tWeldGun\WObj:=Workobject_2;
MoveL Target_60,v200,z0,tWeldGun\WObj:=Workobject_2;
ENDPROC

PROC Path_20_m()
MoveL Target_10_m1,v200,z0,tWeldGun_m0\WObj:=Workobject_2_m0;
MoveL Target_20_m1,v200,z0,tWeldGun_m0\WObj:=Workobject_2_m0;
MoveL Target_30_m1,v200,z0,tWeldGun_m0\WObj:=Workobject_2_m0;
MoveL Target_40_m1,v200,z0,tWeldGun_m0\WObj:=Workobject_2_m0;
MoveL Target_50_m1,v200,z0,tWeldGun_m0\WObj:=Workobject_2_m0;
MoveL Target_60_m1,v200,z0,tWeldGun_m0\WObj:=Workobject_2_m0;
ENDPROC