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(Nachi) Generate programm... Points are shifted by values of userframe
#1
Hi


When I'm generating my programm for sanding with a Nachi MZ12-01 it gives my points shifted by the value of the userframe.
The userframe is added on every of my axis and I don't really know why...
The simulation is working fine...of course the program isn't usable on the robot cuz the points in the generate programm aren't reachable.

Thanks.
   
#2
How do you want to specify the coordinate system you are using?

You can make the following edit to export all targets with respect to its own coordinate system:
  1. Open the file: C:/RoboDK/Posts/OTC.py
  2. Comment the line self.REF_FRAME = pose (around line 260, just add the # character in front)
Nachi and OTC use this same post as they use the same controller.
#3
Tried it, but failed...
When I'm simulating everthing is fine.

The points in the generated program are out of reach but I don't know why it is happening like this.

a video says more than tousand words...
Hope you can help and show what is going wrong.
https://www.dropbox.com/s/uw99wlvw1iedrk...g.mp4?dl=0
#4
I think my question is related to this:

https://robodk.com/forum/Thread-NACHi-Po...on-Example
  




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