[Mad_THA]

Hello,
I am currently using RoboDK to generate programs for an Elite Robots CS612 controller and I am experiencing an issue where all generated waypoints are imported as invalid (yellow) on the controller.

System
Robot: Elite Robots CS612
Controller software: 2.13.3.0 (Build 2025-03-28)
RoboDK: 6.0.4.26866 (64 bit)
Postprocessor: Elite Robots CS

---

Problem
The RoboDK simulation is completely correct.
The generated task can be imported into the Elite controller without errors, but all waypoints appear yellow and cannot be executed.
When I manually press "Set Waypoint" on the controller, the waypoint immediately becomes valid (blue).
This suggests that RoboDK generates incomplete waypoint definitions which the controller refuses to validate automatically.

---

Investigation
Waypoint generated by RoboDK
Inside

Code:

<internalPosition>

RoboDK generates:

Code:

<jointPositions joints="..." />
<toolPose X="0.0" Y="0.0" Z="0.0" RX="0.0" RY="0.0" RZ="0.0" />

There is no

Code:

<flangePose>

entry.
Also:

Code:

<Pose key="baseToFrame">
  <Position>
    <Length key="X" value="0.0"/>
    <Length key="Y" value="0.0"/>
    <Length key="Z" value="0.0"/>
  </Position>
</Pose>

---

Same waypoint after pressing "Set Waypoint" on controller
The controller rewrites the waypoint and creates:

Code:

<jointPositions joints="..." />
<toolPose X="-176.94" Y="-694.36" Z="682.71" RX="..." RY="..." RZ="..." />
<flangePose X="-176.94" Y="-694.36" Z="682.71" RX="..." RY="..." RZ="..." />

and

Code:

<Pose key="baseToFrame">
  <Position>
    <Length key="X" value="-0.1775"/>
    <Length key="Y" value="-0.689"/>
    <Length key="Z" value="0.6977"/>
  </Position>
</Pose>

After this modification the waypoint becomes valid and executable.

---

Additional observations
The generated task already contains:

Code:

<frameReference>Basis_KS</frameReference>
<tcpToolNameReference>Tool_1</tcpToolNameReference>

and the generated configuration contains:

Code:

<Frame name="Basis_KS">
  <Transform value="-177.5, -689, 697.7, 3.141592653589793, 0.0, 0.0" />
</Frame>

as well as:

Code:

<TcpTool name="Tool_1">
  <ToolShape value="0,0,0,0,0,-1.5707963267948966"/>
</TcpTool>

So the frame and TCP information seem to exist in the exported project.

---

Tests already performed

• Generated targets as Cartesian targets
  
• Generated targets as Joint targets
  
• Changed
  
  Code:

  MOVEJ_POSITION_TYPE
  from 0 to 1
  
• Tested different TCP definitions
  
• Generated a completely new RoboDK station from scratch
  
• Imported manually created controller programs and compared XML
  

The issue remains the same.

---

Question
Has anyone successfully generated

Code:

.task

programs for an Elite Robots controller running software 2.13.x?
Is there a known incompatibility between RoboDK 6.0.4 and Elite controller software 2.13.x, or is the postprocessor missing required fields such as

Code:

toolPose

,

Code:

flangePose

or

Code:

baseToFrame

values?

Attached files

• TestStation.rdk → minimal RoboDK station containing the CS612 and 3 waypoints
  
• CS_Code.txt containing:
  KI_PR.task → task generated by RoboDK
  KI_PR.configuration → configuration generated by RoboDK
  KI_PR_from_CS612.task → same task after manually pressing "Set Waypoint" on the controller
  
• Yellow_Waypoints.png → screenshot showing all imported waypoints as invalid (yellow)
  

The manually updated task can be executed correctly, while the RoboDK-generated task cannot.
Comparing both task files shows that the controller automatically inserts additional information (toolPose, flangePose and baseToFrame values) when "Set Waypoint" is pressed.

I can provide any additional files, logs or test projects if needed. The issue is currently blocking my master's thesis work, so any help would be greatly appreciated.

Any help would be greatly appreciated, as this issue is currently blocking my master's thesis project.
Thank you.

[Raphael]

Hello,

It is possible that there was an update to the Elite software since the last update of our post-processor. With all the provided information, I believe it would be possible to update it to allow easy program generation with valid targets. Please note that this might take some time. 

Raphael

[Raphael]

Hello,

Here is the updated Elite post-processor based on your feedback, please let me know if it works correctly.