[lindberg87]

I have a Yaskawa DX200 MH50 robot.

How can I reduce the amount of MovC steps that RoboDK generates then I export the program, its a problem because, Yaskawa DX200 calculates circles in 3 MovC´s and 4 MovC's for half or hole circle. 

I have added picture of RoboDK program instructions.

Best Regards.
Stig.

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Here's is a exsample more, there is to many MovC's:

Code:

MOVJ C00000 VJ=50.00 PL=1
MOVL C00001 V=50.0 PL=1
MOVL C00002 V=50.0 PL=1
MOVL C00003 V=5.6 PL=1
MOVL C00004 V=5.6 PL=1
MOVC C00005 V=16.7 PL=1
MOVC C00006 V=16.7 PL=1
MOVC C00007 V=16.7 PL=1
MOVL C00008 V=16.7 PL=1
MOVC C00009 V=16.7 PL=1
MOVC C00010 V=16.7 PL=1
MOVC C00011 V=16.7 PL=1
MOVC C00012 V=16.7 PL=1
MOVC C00013 V=16.7 PL=1
MOVC C00014 V=16.7 PL=1
MOVC C00015 V=16.7 PL=1
MOVC C00016 V=16.7 PL=1
MOVC C00017 V=16.7 PL=1
MOVL C00018 V=16.7 PL=1
MOVC C00019 V=16.7 PL=1
MOVC C00020 V=16.7 PL=1
MOVC C00021 V=16.7 PL=1
MOVL C00022 V=50.0 PL=1
MOVL C00023 V=50.0 PL=1
MSG "/'2D Contour2'"
END

[Albert]

How did you create this program in RoboDK? Can you share the RoboDK project file?

If you loaded it from a CAM project or NC file, could you also share the corresponding Gcode file or APT file?

[lindberg87]

How did you create this program in RoboDK? Can you share the RoboDK project file?

If you loaded it from a CAM project or NC file, could you also share the corresponding Gcode file or APT file?

Hi Albert.
I’ve added my project file to this thread.
Workflow

1. I send the CAM data from Autodesk Fusion 360 to RoboDK.
   
2. In RoboDK, I open the machining project and click Update to create the program file.
   
3. The instruction list in RoboDK looks correct.
   
4. But when I click Generate Program, the resulting .JBI contains more MOVC moves than shown in RoboDK’s instruction list.
   

I’m using the Motoman Cartesian post-processor you provided. I’ve also tried different settings in the Program area for the movC, but the output doesn’t change.

Thanks.
Stig

[Albert]

All the arc movements come from your machining project. I don't see anything strange other than some small arcs (MoveC, or MOVC for Yaskawa Motoman) in your simulated program. If Circular movements are creating issues you can configure a filter to avoid small circular movements or avoid arcs at all (using linear movements instead) by following these steps:

1. Select Tools-Options
   
2. Select the Program tab
   
3. Select the option Avoid Arcs which is a default preset to convert MoveC to small linear movements, or you can configure your custom filter.
   

Side note: I noticed that in your example, the orientation of the tool is working near the joint limits for the wrist. I recommend you to manually adjust the orientation for a sample target and use the option "Teach" from your robot machining settings to update your preferred orientation.

[lindberg87]

All the arc movements come from your machining project. I don't see anything strange other than some small arcs (MoveC, or MOVC for Yaskawa Motoman) in your simulated program. If Circular movements are creating issues you can configure a filter to avoid small circular movements or avoid arcs at all (using linear movements instead) by following these steps:

1. Select Tools-Options
   
2. Select the Program tab
   
3. Select the option Avoid Arcs which is a default preset to convert MoveC to small linear movements, or you can configure your custom filter.
   

Side note: I noticed that in your example, the orientation of the tool is working near the joint limits for the wrist. I recommend you to manually adjust the orientation for a sample target and use the option "Teach" from your robot machining settings to update your preferred orientation.

Hi Albert.

Thanks for the pointers. 

I also found the solution on my side by enabling Avoid Arcs and using MOVL only. That removed the problematic MOVC chains in my DX200 programs.

Regarding the wrist near joint limits: I’m aware. This part is still in a test phase, and I’m experimenting to find the best approach angle into the workpiece before I lock the orientation (I’ll use Teach to set the preferred orientation once finalized).


Thanks again for the help.


Best regards.
Stig

[Albert]

Great then, thank you for your feedback.