[Hooman]

I have a question regarding how posts processor work with RoboDK.

Our robot controller uses the joint values (always with respect to the robot joint absolute angle reference on each, joint for all of the robot movements). Is it possible to modify the RoboDK post processor to convert all of MoveL, MoveJ and, MoveC on the program to the joints angles in respect to each joint reference?

My goal is to have joint values for each target point regardless of the program choice for all types of movements (MoveL, MoveJ an, MoveC).

[Albert]

Yes, you can export all movements as joint values even if they are a joint target or a Cartesian target. You should use the joint values in the MoveJ, MoveL and MoveC instructions of your post processor.

I recommend you to take a look at the example post processor called CSV you can find here: C:/RoboDK/Posts/CSV.py.

You can find the steps to edit your post processor for this purpose in this section of the documentation:
https://robodk.com/doc/en/Post-Processor...ampleMoveJ

[Hooman]

Thank you Albert, I will go through it and respond back in the case of having question.

[Hooman]

Hello Albert,
I tried your suggested method and used the link to the Post processor's RoboDK help link. However, after all modification which was suggested to force all of the movement to the Joint movement on the processor was not giving me the right result and all I received was Error messages after applying for RoboDk program generation. At the attached please find my modified Post processor file. Please take a look.
Thank you
Hooman

  test1.py (Size: 21.12 KB / Downloads: 77)

[Albert]

What modifications did you add to the post processor?

What error message do you see?

[Hooman]

Here are the three section modifications which I have done on the Post processor file which was sent to you. These modifications (on two attached Jpg files) were done based on the hint and the link which you send them for me. In addition, you could find the Error message which I have received after applying the Generate Robot Program command. 
Thanks, and look forward for your expertise advice

[Albert]

There is a variable mismatch between joints and angles in the function angles_2_str. You should replace the name angles by joints.

[Hooman]

Here is the modification based on your advice and the received new Error.
Regards

[Albert]

You should remove the extaxes_2_str function call if you don't have external axes.

[Hooman]

Based on your Recent suggestion the “extaxes_2_str(joints)” was removed and Error 1 is generated after. As I understood your trend of correction I estimated your next step will be to remove the “self.SPEEDDATA” then the Error 2 was generated. Moreover on the step after I removed the “self.ZONEDATA” and I received the Error 3.