[cfdojan]

I am hoping to get some clarity regarding the mframe option in the motoman postprocessors. I would like to use this option and have the appropriate package on my DX100 controller, but when I modify the post processor for use_mframe = True, I don't see a mframe generated in my code. I see this behavior across the three motoman postpocessors. I am using RoboDK 5.9.1. I have attached a generated program as an example.

[Albert]

What post processor did you modify?

Can you provide the RoboDK project file (RDK file) you used to generate this JBI file?

[Borgis1]

I can see in your program that you are posting user frame 8, do you expect another result?

[cfdojan]

I tried this with the Motoman, Motoman_Cartesian, and Motoman_Cartesianonly postprocessors. It does indicate that it is using userframe 8, but by enabling use_mfrmame I expected RoboDK to generate the frame using the motoman MFrame command based on the post processor documentation. I may be misinterpreting that though, so I just wanted to clarify. I've attached my station that I have used to generate this file.

[Borgis1]

This is one pp that I regularly use.
By the .JBI file you can see mframe and userframe. Compare it to your post and let us hear the conclusion and if this is what you are looking for.
I never use mframes but rather userframe, robot/base and pulse, so I have no experience with it.

[cfdojan]

Your post file looks the same as mine, with USE_MFRAME and MOVEJ_IN_CARTESIAN both set to true. The MFRAME output in your .JBI file looks like what I would expect based on the manuals. Any ideas of why I am not getting that output when generating my code? I tried this again with a fresh install of robodk and with your post processor with the same result

[Borgis1]

My immediate idea is that userframe 8 is not connected to one of the robots. It is nested to the main branch instead.
I connect everything to my positioner, I recon that gives me a different output.

Look at this:

The M-frame is a fixed coordinate system that is defined relative to the robot's base. It is typically used for programming and controlling the robot's movements in relation to its physical structure. The M-frame is consistent and does not change, providing a stable reference for the robot's operations.