[Mitja GOLOB]

Hello!

 

In our laboratory, we have the OTC DAIHEN FD-V6 robot. When we try to transfer the robot program prepared in the RoboDK environment (example provided below) to the robot controller, we encounter the following issue (error on the controller, in the attachment).

Robot program generated from RoboDK - our example (OTC post-processor):

' Program generated by RoboDK v5.5.2 for Daihen OTC FD-V6 on 15/12/2023 11:12:56

' Using nominal kinematics.

' Using reference frame:

' USERFRAME=(0.000,0.000,0.000,0.000,0.000,0.000)

' (using all targets with respect to the robot base)

CHGCOORD 0

MOVEX M1J,P,(0.00000,92.15810,-13.87360,0.00000,-78.28440,-180.00000),S=500.00,H=1,MS

MOVEX M1J,P,(26.56510,82.81530,-4.17225,0.00000,-78.64310,206.56500),S=500.00,H=1,MS

MOVEX M1J,P,(-26.56510,82.81530,-4.17225,0.00000,-78.64310,153.43500),S=500.00,H=1,MS

END

 

Detailed information:

·         Robot Manipulator NV6, model NV62-NJFN

·         Robot Control Unit FD11, model FD11-JV0000

 

Please, could you advise us on how to resolve this error?

Thank you and best regards!

Mitja

[Albert]

Can you send us a sample program generated by your robot controller? We can compare the headers. There is maybe a configuration flag that doesn't match.

[Mitja GOLOB]

Can you send us a sample program generated by your robot controller? We can compare the headers. There is maybe a configuration flag that doesn't match.

Hello!

Because, unfortunately, I couldn't upload the file with the program, I have sent the robotic program to your email address. Have you successfully received my message? Have you perhaps figured out what is causing the error?

Thank you and best regards!

Mitja

[Mitja GOLOB]

Hello!

Is there any information available regarding the described issue?

Best regards.
Mitja

[Albert]

I was unable to find the file. Can you attach it as a ZIP file in this thread?

This issue may be related to the robot speed being too fast. I recommend you to decrease it and try to load the JBI program to your Yaskawa/Motoman controller.

[Mitja GOLOB]

I was unable to find the file. Can you attach it as a ZIP file in this thread?
This issue may be related to the robot speed being too fast. I recommend you to decrease it and try to load the JBI program to your Yaskawa/Motoman controller.

Hello!

I have attached the file in the attachment.

Thank you and best regards!
Mitja

[Albert]

Can you try removing the empty space for the R parameter:

Code:

MOVEX A=1,AC=0,SM=0,M1J,P,(  0.00,  90.00,  0.00,  0.00, -90.00,  0.00),R=100,H=1,MS

If you still have issues, can you provide a valid program file generated by your OTC robot controller?

Can you also provide the RoboDK project file you used?

[Mitja GOLOB]

Can you try removing the empty space for the R parameter:

Code:

MOVEX A=1,AC=0,SM=0,M1J,P,(  0.00,  90.00,  0.00,  0.00, -90.00,  0.00),R=100,H=1,MS

If you still have issues, can you provide a valid program file generated by your OTC robot controller?

Can you also provide the RoboDK project file you used?

Hello!

I have attached the file in the attachment.

Thank you and best regards!
Mitja

[Albert]

When I generate the program I obtain a file without spaces.

Did you customize your post processor?
Can you try with the default post processor for OTC Daihen robot controllers?

Code:

CHGCOORD 0
MOVEX M1J,P,(26.28140,80.57930,10.11100,-88.60240,-26.28980,88.44120),S=100.00,H=1,MS
MOVEX M1J,P,(-26.28140,80.57930,10.11100,88.60240,-26.28980,-88.44120),S=100.00,H=1,MS
MOVEX M1J,P,(26.28140,80.57930,10.11100,-88.60240,-26.28980,88.44120),S=100.00,H=1,MS
MOVEX M1J,P,(-26.28140,80.57930,10.11100,88.60240,-26.28980,-88.44120),S=100.00,H=1,MS
END

[Mitja GOLOB]

When I generate the program I obtain a file without spaces.

Did you customize your post processor?
Can you try with the default post processor for OTC Daihen robot controllers?

Code:

CHGCOORD 0
MOVEX M1J,P,(26.28140,80.57930,10.11100,-88.60240,-26.28980,88.44120),S=100.00,H=1,MS
MOVEX M1J,P,(-26.28140,80.57930,10.11100,88.60240,-26.28980,-88.44120),S=100.00,H=1,MS
MOVEX M1J,P,(26.28140,80.57930,10.11100,-88.60240,-26.28980,88.44120),S=100.00,H=1,MS
MOVEX M1J,P,(-26.28140,80.57930,10.11100,88.60240,-26.28980,-88.44120),S=100.00,H=1,MS
END

Hello!

The robot program generated by RoboDK environment is as follows.

-----------------------------------------------------------------------------------------------------------------------------------
' Program generated by RoboDK v5.5.2 for Daihen OTC FD-V6 on 19/01/2024 13:59:13
' Using nominal kinematics.
' Using reference frame:
' USERFRAME=(0.000,0.000,0.000,0.000,0.000,0.000)
' (using all targets with respect to the robot base)
CHGCOORD 0
MOVEX M1J,P,(26.28140,80.57930,10.11100,-88.60240,-26.28980,88.44120),S=100.00,H=1,MS
MOVEX M1J,P,(-26.28140,80.57930,10.11100,88.60240,-26.28980,-88.44120),S=100.00,H=1,MS
MOVEX M1J,P,(26.28140,80.57930,10.11100,-88.60240,-26.28980,88.44120),S=100.00,H=1,MS
MOVEX M1J,P,(-26.28140,80.57930,10.11100,88.60240,-26.28980,-88.44120),S=100.00,H=1,MS
END
-----------------------------------------------------------------------------------------------------------------------------------

 If this program is loaded onto the robot controller, the robot controller reports an error.

We have not modified the post-processor.

Last time, I also attached an example program prepared on the robot controller itself, and it is functional (file NB6L.050).

Best regards.
Mitja