07-04-2020, 05:59 PM
Hi all,
I need help modifying the post processor for a NACHi robot. I think I know what is happening.
This is related to other posts such as:
https://robodk.com/forum/Thread-Nachi-Ge...ight=Nachi
The suggestion to make the post processor to use the user coordinate system by
I attached 3 zip files here for you to review:
1) the RoboDK file following the spray paint program from the tutorial (yes, I am still learning from those).
2) the post from RoboDK after commenting the line #260ish following instruction above to use user coordinate system. The main program 110 will call 111, 112, 113
3) the post I edited manually to get them working
Here is what I did:
1) Using the teach pendent, I added User Coordinate Frame 1 (same location as the work piece frame in RoboDK) to the robot controller, and also added Tool 1 geometry (same definition as in RoboDK).
2) In 110, before calling the subprogram, I inserted the line CHGCOORD 1 to use user coordinate frame 1. I inserted the line CHGCOORD 0 to user the robot base frame before ending the program. (It is probably a good idea insert these two lines in ALL subprogram though. CHGCOORD is fn113. It should be called before the move(s).)
3) Add a "U" to MOVEX lines. (Note: MOVEX M1J doesn't need it because it is joint move.) For example, in 111
before
MOVEX M1X,L,(222.258,199.775,333.893,0.000,-0.000,0.000),S=200.00,H=1,MS
after
MOVEX M1X,L,(222.258,199.775,333.893,0.000,-0.000,0.000)U,S=200.00,H=1,MS
Note the U after ')'
And that's how I get the program to work. I also compiled and ran these on FD on DESK II before i sent to the robot.
So, my question is: how do I modify the post processor to do these steps automatically?
Thanks!
I need help modifying the post processor for a NACHi robot. I think I know what is happening.
This is related to other posts such as:
https://robodk.com/forum/Thread-Nachi-Ge...ight=Nachi
The suggestion to make the post processor to use the user coordinate system by
- Open the file: C:/RoboDK/Posts/OTC.py
- Comment the line self.REF_FRAME = pose (around line 260, just add the # character in front)
I attached 3 zip files here for you to review:
1) the RoboDK file following the spray paint program from the tutorial (yes, I am still learning from those).
2) the post from RoboDK after commenting the line #260ish following instruction above to use user coordinate system. The main program 110 will call 111, 112, 113
3) the post I edited manually to get them working
Here is what I did:
1) Using the teach pendent, I added User Coordinate Frame 1 (same location as the work piece frame in RoboDK) to the robot controller, and also added Tool 1 geometry (same definition as in RoboDK).
2) In 110, before calling the subprogram, I inserted the line CHGCOORD 1 to use user coordinate frame 1. I inserted the line CHGCOORD 0 to user the robot base frame before ending the program. (It is probably a good idea insert these two lines in ALL subprogram though. CHGCOORD is fn113. It should be called before the move(s).)
3) Add a "U" to MOVEX lines. (Note: MOVEX M1J doesn't need it because it is joint move.) For example, in 111
before
MOVEX M1X,L,(222.258,199.775,333.893,0.000,-0.000,0.000),S=200.00,H=1,MS
after
MOVEX M1X,L,(222.258,199.775,333.893,0.000,-0.000,0.000)U,S=200.00,H=1,MS
Note the U after ')'
And that's how I get the program to work. I also compiled and ran these on FD on DESK II before i sent to the robot.
So, my question is: how do I modify the post processor to do these steps automatically?
Thanks!