09-16-2026, 12:49 PM
Hello,
I have a question regarding the FANUC LS program generated by RoboDK.
I am using RoboDK version 5.9.0 with a FANUC LR Mate 200iD/7L robot. I generate the robot program using a RoboDK Python script and the FANUC RJ3 post processor.
I would like to keep the robot configuration as F U T.
In the RoboDK simulation, the robot moves with the desired F U T configuration. However, I found that the joint angles stored in some Targets do not correspond to the F U T configuration. Instead, some Targets appear to have joint angles corresponding to the F D B configuration.
For example, the generated LS file contains:
P[32]{
GP1:
UF : 2, UT : 2, CONFIG : 'F U T, 0, 0, 0',
X = 792.980 mm, Y = 129.270 mm, Z = 160.000 mm,
W = 90.000 deg, P = 0.000 deg, R = -119.518 deg
};
P[33]{
GP1:
UF : 2, UT : 2, CONFIG : 'F D B, 0, 0, 0',
X = 826.627 mm, Y = 164.595 mm, Z = 160.000 mm,
W = 90.000 deg, P = 0.000 deg, R = -149.036 deg
};
I suspect that the problem occurs when the Target positions and joint angles are calculated or generated in RoboDK. Although the robot simulation follows the desired F U T configuration, some Targets are generated with joint angles corresponding to F D B. As a result, the FANUC LS file later outputs those Targets as F D B.
I found that I can correct the configuration by using the "Teach Current Position" function for each Target in RoboDK. After doing this, the Target stores the joint angles corresponding to the desired F U T configuration.
However, my program contains a very large number of Target points, so manually applying this operation to every Target is not practical.
Therefore, I would like to understand:
I have a question regarding the FANUC LS program generated by RoboDK.
I am using RoboDK version 5.9.0 with a FANUC LR Mate 200iD/7L robot. I generate the robot program using a RoboDK Python script and the FANUC RJ3 post processor.
I would like to keep the robot configuration as F U T.
In the RoboDK simulation, the robot moves with the desired F U T configuration. However, I found that the joint angles stored in some Targets do not correspond to the F U T configuration. Instead, some Targets appear to have joint angles corresponding to the F D B configuration.
For example, the generated LS file contains:
P[32]{
GP1:
UF : 2, UT : 2, CONFIG : 'F U T, 0, 0, 0',
X = 792.980 mm, Y = 129.270 mm, Z = 160.000 mm,
W = 90.000 deg, P = 0.000 deg, R = -119.518 deg
};
P[33]{
GP1:
UF : 2, UT : 2, CONFIG : 'F D B, 0, 0, 0',
X = 826.627 mm, Y = 164.595 mm, Z = 160.000 mm,
W = 90.000 deg, P = 0.000 deg, R = -149.036 deg
};
I suspect that the problem occurs when the Target positions and joint angles are calculated or generated in RoboDK. Although the robot simulation follows the desired F U T configuration, some Targets are generated with joint angles corresponding to F D B. As a result, the FANUC LS file later outputs those Targets as F D B.
I found that I can correct the configuration by using the "Teach Current Position" function for each Target in RoboDK. After doing this, the Target stores the joint angles corresponding to the desired F U T configuration.
However, my program contains a very large number of Target points, so manually applying this operation to every Target is not practical.
Therefore, I would like to understand:
- Why are some Targets generated with joint angles corresponding to F D B instead of F U T, even though the robot simulation moves through the path using the F U T configuration?
- Could this be related to the way the Targets are calculated or generated using the RoboDK Python API?
- Is there a way to automatically generate or update all Targets so that their stored joint angles correspond to the F U T configuration, without manually using "Teach Current Position" for each Target?
- RoboDK version: 5.9.0
- Robot: FANUC LR Mate 200iD/7L
- Post processor: FANUC RJ3
- Program generation: RoboDK Python script
- Output: FANUC LS file
