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Post Processor for Nachi, adding slider and rotatory axis to post processor.
#1
Hi I'm trying to generate a post for I Nachi Robot with a Slider and Rotary axis. I can post a program but it isn't adding the extra axis code, I know I need to modify the Post Processor and add these in, but my knowledge is limited with Python.  

I understand I need to add a M2 and M3 to the MOVEX but not sure how to.

This is what I'm getting at the moment.

' Program generated by RoboDK v5.0.1 for Nachi MC20 on 25/08/2020 08:36:24
' Using nominal kinematics.
' Using reference frame:
' USERFRAME=(-1870.490,-1316.220,317.231,180.000,0.000,103.450)
CHGCOORD 5
' Using the tool:
' TOOL1=(-0.070,0.000,435.960,13.000,-33.860,0.000)
MOVEX M1J,P,P*,S=1000.0,H=1,MS
' Show Fronius Welder
MOVEX M1J,P,(-138.71400,63.62080,25.03090,26.05600,-49.00120,-41.80770),S=1000.00,H=1,MS
MOVEX SM=0,M1X,L,(-761.916,520.000,-50.249,0.000,61.938,90.000)U,S=1000.00,H=1,MS
MOVEX SM=0,M1X,L,(-643.745,520.000,-50.249,0.000,61.938,90.000)U,S=50.00,H=1,MS
MOVEX SM=0,M1X,L,(-643.745,520.000,-99.997,0.000,61.938,90.000)U,S=50.00,H=1,MS
MOVEX SM=0,M1X,L,(-643.745,620.000,-99.997,0.000,61.938,90.000)U,S=1000.00,H=1,MS
MOVEX SM=0,M1X,L,(-761.916,620.000,-99.997,0.000,61.938,90.000)U,S=1000.00,H=1,MS
MOVEX SM=0,M1X,L,(-761.916,520.000,-99.997,0.000,61.938,90.000)U,S=1000.00,H=1,MS
MOVEX SM=0,M1X,L,(-761.916,520.000,-50.249,0.000,61.938,90.000)U,S=50.00,H=1,MS
MOVEX SM=0,M1X,L,(-761.916,620.000,-50.249,0.000,61.938,90.000)U,S=1000.00,H=1,MS
END



This is an example of a program taught on the robot that works.

EM "Drill Prog Example - LH Side - [05-11-18, DB]"
REM "-----------------------------------------------"
ALLCLR
IF o215 = 1 THEN *Start ELSE *End
*Start
CHGCOORD 1
REM "-----------------------------------------------"
MOVEX A=1,AC=0,SM=3,M1J,P,(-90,110,-55,0,-55,167),R=40.0,H=2,MS,M2J,P,(1000),R= 100,H=2,M3J,P,(0),R= 100,H=2 'TransitionLH1
MOVEX A=1P,AC=0,SM=3,M1J,P,(-90,55,-70,0,15,167),R=30.0,H=2,MS,M2J,P,(1000),R= 100,H=2,M3J,P,(0),R= 100,H=2 'TransitionLH2
REM "-----------------------------------------------"
'Edit moves in this section
MOVEX A=1,AC=0,SM=3,M1X,L,(1000,125,-450,0,180,0)U,S= 250.0,H=2,MS,M2J,P,(1000),R=10.0,H=2,M3J,P,(0),R=10.0,H=2 'Transfer
MOVEX A=1,AC=0,SM=3,M1X,L,(1000,-150,-450,0,180,0)U,S= 250.0,H=2,MS,M2J,P,(1000),R=10.0,H=2,M3J,P,(0),R=10.0,H=2 'Clear
CALLP 31
MOVEX A=1,AC=0,SM=3,M1X,L,(1000,125,-450,0,180,0)U,S= 250.0,H=2,MS,M2J,P,(1000),R=10.0,H=2,M3J,P,(0),R=10.0,H=2 'Transfer
REM "-----------------------------------------------"
MOVEX A=1P,AC=0,SM=3,M1J,P,(-90,55,-70,0,15,167),R=30.0,H=2,MS,M2J,P,(1000),R= 100,H=2,M3J,P,(0),R= 100,H=2 'TransitionLH2
MOVEX A=1,AC=0,SM=3,M1J,P,(-90,110,-55,0,-55,167),R=40.0,H=2,MS,M2J,P,(1000),R= 100,H=2,M3J,P,(0),R= 100,H=2 'TransitionLH1
CALLP 2
*End
CHGCOORD 0
END

Thanks for you help
#2
You should make sure you have the turntable and the robot synchronized in RoboDK. More information here:
https://robodk.com/doc/en/General.html#SyncAxes

Can you share your RDK file? We can help you better.

The Nachi post processor supports exporting information related to your external axes. Make sure you are using a recent version of RoboDK to make sure you are using the latest post processors.
  




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