Mirroring Trajectories and Robot Tasks

You can mirror existing trajectories and robot tasks. Mirroring can be used when two robots are performing the same motions from different locations. When targets are configured for one robot, you can create a mirrored copy of those targets and assign them to another robot.

Before you begin: You must have an existing task defined to mirror.
See Also
Replicating Tasks
  1. From the Setup section of the action bar, click Mirror Targets .
    You are prompted to select one or more objects to mirror.
  2. In the work area, select one or more trajectories to be mirrored.

    • You can select multiple trajectories by pressing the Ctrl key as you make each selection. After all selections have been made, click Finish in the Tools Palette dialog box to end the selection process.
    • You can alternatively select a robot. All trajectories associated with the robot are selected for mirroring.

    The Mirror dialog box appears.

  3. Click to view the selected trajectories.
    The Select objects to mirror dialog box appears.

    All tags from each trajectory are listed. By default, all tags are selected for mirroring. You can clear the selection for specific tags in the Selected column to exclude those tags from being mirrored.

    Trajectory Context and Trajectory Name indicate the parent and name of the source trajectory, respectively. Result Context and Result Trajectory indicate the parent and name of the mirrored trajectory that is created.

    Remove can be used to permanently exclude selected trajectories or tags from the mirroring process.

  4. Click OK to return to the Mirror dialog box.
  5. Select an Axes to mirror.

    Only the selected axes are mirrored.

    X-Y Mirroring

    Y-Z Mirroring

    Z-X Mirroring

  6. In the Mirror section, Plane Definition specifies the Default Plane. To specify a different plane, click and identify a location to specify the plane.

    Upon selecting the plane, you can use the handle to place the mirrored trajectories to the required location.

  7. In the Results section, you can elect to Move or Copy the selected trajectories under a parent that you specify.

    You can use the current parent, or click to select a parent in the tree or work area.

    Under Parent is updated with your selection.

    Trajectory lists all of the trajectories under the specified parent. By default, New is selected. This moves a mirrored trajectory from its original parent to the specified parent. If you select any other trajectory in the list, the mirrored trajectory is appended in that trajectory.

    When Copy is selected, you also have the option to select and define a Name-Prefix that prepends the trajectory name.

  8. Click OK to create the mirrored task.

    The new mirrored trajectories appear in the Behavior panel.