[Marwin]

Hello,

I am trying to reuse some of my python code and have trouble doing so. The dark grey areas on the picture show part of the tool path I want to follow. My intention was to program one of the four groups, turn my reference frame at the center by 90° and do the same movements. Unfortunately, in this case the tool orientation changes as well. Is there a way to reuse the movement pattern while keeping the tool orientation the same?

Thank you for your help!

My attempt:
robot.setPoseFrame(MiddleOfSubstrate)
robot.MoveL(StartDeposition)
robot.MoveL(StartDeposition*transl(0,100,0))
robot.setPoseFrame(MiddleOfSubstrate.Pose()*rotz(90*pi/180))
robot.MoveL(StartDeposition)
robot.MoveL(StartDeposition*transl(0,100,0))
...