[PythomSpace]

It is necessary to use names such as 'Tool 1' and 'Frame 1' considering the specifics of this postprocessor:



The result will be as follows:

Code:

"action":800,"coordID":1,"coordName":"Frame 1","insertedIndex":1,"customName":""
"action":801,"toolID":1,"toolName":"Tool 1","insertedIndex":2,"customName":""

Also, I added the "customName":"" field

The .rdkp package with the updated postprocessor is attached

Testing out a bit more here is what i noticed.

For the variable "toolCoord" in the actions the borunte post processor sets it to the same as the "toolID" so it looks like this "toolCoord":1 in the output from roboDK if I use "Tool 1"

when I load the program on the teaching pendant it sets the tool and frame correctly for Tool 1 and Frame 1. it also works fine using Free Path actions to have "toolCoord":1 but for the Line3d-Pose actions it does not find the tool and I still have to edit them manually to set them to Tool 1. The Frame is working correctly I only have to manually set them to tool to Tool 1.

After I save and export the changes from the teaching pendant the toolCoord now shows as "toolCoord":65537 for the Line3d-Pose actions. I am not sure where it gets the 65537 number from but it seems to need to use that for the program to run correctly on the robot arm using Frame 1 and Tool 1

Hers is the RoboDK Station I used to create the program

  toolCoordTest.rdk (Size: 1.43 MB / Downloads: 273)

Here is the output from RoboDk

  toolCoord_RoboDK.zip (Size: 4.25 KB / Downloads: 241)

Here is the export back from the teaching pendant after the tool was selected and set manually

  toolCoord_Pendant.zip (Size: 1.31 KB / Downloads: 238)

Thanks for all your help with the post processor.

[Sergei]

Thank you very much for this feedback!

Could you please check what 'toolCoord' values the Borunte controller assigns to the different tool numbers such as Tool 1, Tool 6, Tool 15, Tool 16, Tool 31, Tool 32, Tool 33.

It appears that binary or hexadecimal format is used to number the 'toolCoord'

For example, 65537 = 1 0001 in HEX (or 00010000000000000001 in BIN)

[PythomSpace]

Thank you very much for this feedback!

Could you please check what 'toolCoord' values the Borunte controller assigns to the different tool numbers such as Tool 1, Tool 6, Tool 15, Tool 16, Tool 31, Tool 32, Tool 33.

It appears that binary or hexadecimal format is used to number the 'toolCoord'

For example, 65537 = 1 0001 in HEX (or 00010000000000000001 in BIN)

Yes let me set that up and  Ill get the results posted here soon.

[PythomSpace]

Thank you very much for this feedback!

Could you please check what 'toolCoord' values the Borunte controller assigns to the different tool numbers such as Tool 1, Tool 6, Tool 15, Tool 16, Tool 31, Tool 32, Tool 33.

It appears that binary or hexadecimal format is used to number the 'toolCoord'

For example, 65537 = 1 0001 in HEX (or 00010000000000000001 in BIN)

I set up 7 tools on the teaching pendant with the names Tool 1, Tool 6, Tool 15, Tool 16, Tool 31, Tool 32 and Tool 33

I used the same program from the  toolCoordTest.rdk station and changed to each tool on the teaching pendant and saved them to the usb.

I noticed that after I set The different tool names the

 {"action":801,"toolID":1,"toolName":"Tool 1","insertedIndex":2,"customName":"Tool 1"} 

will retain the RoboDK toolName even if another tool is selected.

{"action":801,"toolID":2,"toolName":"Tool 1","insertedIndex":2,"customName":"Tool 6"}

I don't think the teaching pendant uses the toolName variable at all. it mostly uses the toolID and toolCoord to identify what tool is being used.

It seams to use the tool index numbers  to identify the tools and then makes a Decimal number for the toolCoord

"toolID":1 gets 65537 for the tool at index 1 Named Tool 1
"toolID":2 gets 131073 for the tool at index 2  Named Tool 6
"toolID":3 gets 196609 for the tool at index 3 Named Tool 15
"toolID":4 gets 262145 for the tool at index 4 Named tool 16 
"toolID":5 gets 327681 for the tool at index 5 Named tool 31

Here is a picture of my tools screen on the teaching pendant
   

Here are the programs for the different tools exported from the teaching pendant

  Tool 1.zip (Size: 1.32 KB / Downloads: 250)
  Tool 6.zip (Size: 1.31 KB / Downloads: 229)
  Tool 15.zip (Size: 1.34 KB / Downloads: 224)
  Tool 16.zip (Size: 1.33 KB / Downloads: 233)
  Tool 31.zip (Size: 1.33 KB / Downloads: 244)

looks like it might take the toolID converts it to decimal. so 1 converts to 65537 then converts it to binary to get 10001 and uses the first digit of 10001 to get the toolID again... at least I think that's whats going on.

[Sergei]

I attached the updated Borunte postprocessor.
Please let us know if it works for you.
Also, could you please share the model name of your robot's controller?

[PythomSpace]

I attached the updated Borunte postprocessor.
Please let us know if it works for you.
Also, could you please share the model name of your robot's controller?

Great I will test the new post this morning. I will boot up the teaching pendant and look but I am pretty sure we are running 2.0.2.7 F2 master for the software version on the pendant.

[PythomSpace]

I attached the updated Borunte postprocessor.
Please let us know if it works for you.
Also, could you please share the model name of your robot's controller?

Tested it out a bunch today and its working great now. I am now able to load large programs on the borunte teaching pendant and all actions in the programs have the correct tool and frames with no need to manually change the programs after they are loaded. 

As i move forward setting up more complex stations I will let you know if I run into any issues.

Also is it possible to create a driver for the Borunte Arms so we can control them directly from roboDK so we can enable enable tools like RoboDK TwinTool and TwinBox?

[Sergei]

Also is it possible to create a driver for the Borunte Arms so we can control them directly from roboDK so we can enable enable tools like RoboDK TwinTool and TwinBox?

Please contact us via the following page: Contact us

[Emil]

Good day Friends! Please help me figure out the robot borunte 1510A. We want to connect the robot to a PC. Which cable and which connector should I connect it to? We connected via the "monitor" and were able to control the robots lamp with the modbas program. But we don"t know how to control the robot's motors via a PC. help me please tell me. Very grateful for your help.

[Albert]

To transfer files, most robot controllers have an FTP server so you can connect to the robot controller via FTP and transfer program files. Have you tried connecting through FTP?