[cfdojan]

I am working on setting up robodk for use with my motoman ES200N robots. I am able to generate programs using the default motoman post processor using pulses, but when I use either the motomancartesian or motomancartesianonly post processors the coordinates are not generated with the reference frame, just the global coordinates. Regardless of what I set the reference frame in the program to, the z height is calculated via the global roboDK coordinates, not with the base or reference frame. As the motoman base is located 650mm above the bottom of the robot, this means that all points end up with a 650mm offset in the z relative to their location in roboDK. I am not using the mframe option in either post processor. 


I have attached my program and two screenshots showing my point position in robodk and the resulting coordinate output in my program. 

Any advice on how to fix this or account for the offset would be great.

[Borgis1]

Tool definition difference between robot and model?

[cfdojan]

I do not have a tool defined in the model or on the robot system, this is all based off the flange location. The code generates correctly with the pulse postprocessor, just not the Cartesian ones.

[Albert]

Programming in Cartesian coordinates with a Yaskawa/Motoman controller usually requires a paid option on the robot controller (RJ flag in your JBI file). However, you should be able to load programs in relative coordinates without having this software option. To make this work you should remove the RJ flag from your JBI file.

I got back to your same question here:
https://robodk.com/forum/Thread-Yaskawa-...ith-RoboDK