[VladOS]

Hello friends! I have a robot that not in online library and I try to write my own post processor. Please tell me how to generate a program for a robot with points relative to the robot base. All my points are relative for reference coordinate system now.

[Albert]

If you look at the post processor called Epson RC you'll see an example to calculate the absolute pose (position of the tool relative to the robot base). For every new movement (MoveL and MoveC) you should calculate the absolute position like this:

Code:

pose_abs = self.FRAME * pose

You should make sure you keep a copy of the reference coordinate system (inside setFrame).

[VladOS]

Thank you for answer! Yes it write, I guessed it today by mysalf)