[Borgis1]

This post starts with something like this:

Code:

/JOB
//NAME P1001
//POS
///NPOS 8845,0,0,0,0,0
///TOOL 0
///POSTYPE PULSE
///PULSE
C00000=-987,18260,-48264,-142788,62257,26291
///USER 3
///TOOL 0
///POSTYPE USER
///RECTAN
///RCONF 1,0,0,0,0,0,0,0
C00001=89.993,245.500,135.000,0.00,-0.00,-100.00
C00002=89.993,245.500,30.000,0.00,-0.00,-100.00
C00003=89.993,245.500,28.000,0.00,-0.00,-100.00

This is ok. Except that when the post start with PULSE in the program. The next part gives a 3190 error on the controller. Relative Job error as that is not compatible with the pulse start.

Code:

C08844=193.833,270.304,80.000,0.00,-0.00,-100.00
//INST
///DATE 2024/04/05 00:27
///COMM Generated using RoboDK
///ATTR SC,RW,RJ
////FRAME USER 3
///GROUP1 RB1
NOP
'Program generated by RoboDK v
'5.7.1 for Yaskawa GP25-12 on

I needs to look like this:

Code:

C08844=193.833,270.304,80.000,0.00,-0.00,-100.00
//INST
///DATE 2024/04/05 00:27
///COMM Generated using RoboDK
///ATTR SC,RW
///GROUP1 RB1
NOP
'Program generated by RoboDK v
'5.7.1 for Yaskawa GP25-12 on

When the JBI file starts with pulse it is NOT a relative job. another sub program can do that, but not the file with the pulse start.

[Albert]

If you want to output all targets using Cartesian data instead of pulses you can change this setting:

1. Select Tools-Options
   
2. Select the Program tab
   
3. Set Output for Joints movements: Cartesian data
   
4. Set Output for Linear movements: Cartesian data
   

[Borgis1]

That fixed the problem, but not the bug. Thanks

[Albert]

Great, thank you for your feedback.