[vanja_makaj]

Hello, can someone please explain shortly what each line in this .JBI program does?

/JOB
//NAME LAV_G1
//POS
///NPOS 5615,0,0,0,0,0
///TOOL 3
///POSTYPE PULSE
///PULSE
C00000=56283,79796,222419,0,-105048,14460
//INST
///DATE 2023/10/26 12:03
///COMM Generated using RoboDK
///ATTR SC,RW
///GROUP1 RB1
NOP
'Program generated by RoboDK v
'5.3.2 for Yaskawa HC10 on 26/
'10/2023 12:03:12
'Using nominal kinematics.
'Name: Mill Default MM
'Group: Machine Group-1
MSG "Operation 3"
MSG "Construction plane: Top"
MSG "Tool: FLAT END MILL - 6"
MSG "Starting program 3"
MSG "Sequence 100"
'Using Machining Reference (ta
'rgets wrt base):
'761.8,452.5,-194.6,0.0,0.0,18
'0.0
'Tool 3 (FLAT END MILL - 6 D6.
'0 L60.000 Id 3) should be clo
'se to:
'-125.0,-1.0,308.2,0.0,0.0,0.0
'Hide cutters
'Show FLAT END MILL - 6 D6.0 L
'60.000 Id 3
MOVJ C00000 VJ=50.00 PL=1
END

[Albert]

When you generate a program from RoboDK you'll see the instructions translated into commands that the controller understands. JBI program files are programs for the Yaskawa/Motoman robot controller. This programming language is called INFORM. This programming language requires a header which can include robot targets (in pulses and/or Cartesian values). The instructions start from the NOP section until the END command.

In your example you only have a joint move command. The single quotes character indicates a comment and the MOVJ is a joint move command.

When you use a Yaskawa/Motoman controller it is also important to properly enter the pulses/degree ratio in RoboDK. You can find more information here:
https://robodk.com/doc/en/Robots-Motoman...omanPulses