[rnaoki]

We are currently transferring a program created in RoboDK to a FAIRINO20 collaborative robot and conducting operational verification.
We have confirmed that the program runs correctly in automatic mode. However, when we attempt to move through the program point by point using manual (step-by-step) operation, a "null variable" error is displayed. As a result, we are unable to verify each point individually.
To help investigate the issue, I would like to send you the simulation data that we are using for the program transfer. Could you please review it and advise us on how to modify the program or settings so that step-by-step execution can be performed without the error?
Your guidance and support would be greatly appreciated.

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  上下A.B上と下の製品5本ずつ受け渡し Rrd Fr（本命） 5本状態　700B_RRARCH 吸着パッド2個.rdk (Size: 22.4 MB / Downloads: 34)

  310D QTR　上下A,B.rdk (Size: 34.65 MB / Downloads: 45)

[Sergei]

Please try using the Fairino_db postprocessor.
Here is the explanatory video on how to use the generated program and points table: video

In addition, it is necessary to ensure that the robot dimensions (e.g., link lengths and offsets) accurately match those of the actual robot, as they may vary depending on the robot version.

[rnaoki]

Thank you for your information.

After reviewing the video, I would like to confirm a few points.

My understanding is that the robot in the video is operated automatically by importing a DB-format point table. Is this correct?

In addition, we previously received feedback from the Fairino robot manufacturer stating that importing and using a DB-format point table may be difficult, and that collaborative robots may require a Lua-format program rather than a DB-format file for reliable operation.

When using the Fairino_db post processor that you recommended, is it correct to understand that this is not an issue and that the robot can be operated properly using a DB-format point table?

Also, regarding your comment about robot dimensions, I understand that the robot parameters, such as link lengths and offsets, must accurately match the actual robot to avoid discrepancies between simulation and real-world operation.

Could you please provide more detailed step-by-step instructions on how to verify this? As a beginner, I would greatly appreciate a detailed explanation.

For example:

- How can I verify that the robot model in RoboDK matches the actual Fairino robot?
- Which specific parameters should be checked (link lengths, offsets, tool flange dimensions, etc.)?
- Where can I find these values in the Fairino controller, documentation, or robot specifications?
- How can I compare the values in RoboDK with those of the real robot?
- Is there a recommended calibration or validation procedure that should be performed before generating and running programs?

I would appreciate any guidance you can provide to help ensure that the simulation model and the real robot are configured correctly.

Thank you for your support, and I look forward to your response.

Best regards,

[rnaoki]

Could you kindly provide us with a document or procedure guide that outlines the method you explained for implementing the program?

Alternatively, if it is easier, we would greatly appreciate it if you could describe the necessary steps within this thread. If there are any existing materials, manuals, or reference documents that explain the process, we would be grateful if you could share them with us.

We sincerely apologize for any inconvenience this request may cause and greatly appreciate your assistance and support.

Thank you in advance for your cooperation.

[Sergei]

Thank you for your questions. Please see my responses below:

1.  Is it correct that the robot in the video is operated automatically by importing a DB-format point table?

    Yes, that is correct.

2.  When using the Fairino_db post-processor that you recommended, is it correct to understand that this is not an issue and that the robot can be operated properly using a DB-format point table?

    Yes, that is correct.

3.  How can I verify that the robot model in RoboDK matches the actual Fairino robot?

    You can compare the Cartesian coordinates of the flange zero point (also known as the null tool) for similar joint values. This is a good starting point for comparison.

4.  Which specific parameters should be checked (link lengths, offsets, tool flange dimensions, etc.)?

    You should check the DH parameters, specifically the link lengths and both angular and linear offsets.

5.  Where can I find these values in the Fairino controller, documentation, or robot specifications?

    Please check the official Fairino robot documentation and specifications.

6.  How can I compare the values in RoboDK with those of the real robot?

    You can compare the DH parameters in RoboDK (go to the Robot Control Tab -> Parameters) with the corresponding values from the documentation.
Please take a look at the following documentation also:
https://robodk.com/doc/en/General.html#Model6axis

7.  Is there a recommended calibration or validation procedure that should be performed before generating and running programs?

    You can use the Fairino controller emulator software for program validation.

[rnaoki]

I apologize for the inconvenience, but would it be possible for you to provide the procedure shown in the video in the form of a written step-by-step guide?

As it is difficult for us to fully understand the process from the video alone, we would greatly appreciate it if you could share any documentation, instructions, or a procedure manual explaining the workflow.

Thank you very much for your support and assistance.