[Borgis1]

The robot model has a flipped arm in regards to the actual robot.
If I post with rconf 0.0.0.0.0.0.0 the model is nonflipped. The actual robot flips.
And the reverse if opposite.
In the picture the model is flipped. The actual robot is no-flip

[Albert]

In general, the post processor will output the configuration flags based on the joint values of your first target. Usually, for a robot machining project or a curve follow project, the first movement will establish the desired configuration for subsequent linear movements. You can change the desired start configuration (joints) by selecting a different "Preferred joints for the start point" in your robot machining settings menu.

By the way, did you properly update your pulses per degree ratio? This is required for Yaskawa/Motoman robots when you want use pulse data (targets defined using joint data). You can find more information here:
https://robodk.com/doc/en/Robots-Motoman...omanPulses

[Borgis1]

The animation is opposite of model.
When it prints no-flip 1,0,0,0,0,0 with prefered joints, the model is FLIPPED. The actual robot is NOT.
Prefered joints print flip 0,0,0,0,0,0. Model is not flipped and the actual robot flips.

Yes pulses pr degree is updated and works very well. Sergei helped with that. It is not used for every job, but it is in the arsenal

[Albert]

So I understand that our post processor for Yaskawa Motoman robots has the first bit of the configuration flags swapped?

When we output 1 it should be 0 and vice versa. Can you confirm?

[Borgis1]

So I understand that our post processor for Yaskawa Motoman robots has the first bit of the configuration flags swapped?

When we output 1 it should be 0 and vice versa. Can you confirm?

yes, can confirm!

here is from the manual:
RCONF Function : Represents the manipulator type of the Cartesian data defined
during and after this pseudo instruction.
Format : ///RCONF < l>,< m>,< n>,< o>,<p>,< q>,< r1 >,< r2>,< r3 >,
< r4 >,< r5>,< r6 >,< r7>,< r8 >,< r9>,< r10 >,< r11>,
< r12 >,< r13>,< r14 >,< r15>,< r16 >,<r17>,< r18>
<l>: 0: Flip, 1: No-flip
<m>: 0: Upper arm, 1: Lower arm
<n>: 0: Front, 1: Rear
<o>: 0: R < 180, 1: R >= 180
<p>: 0: T < 180, 1: T >= 180
<q>: 0: S < 180, 1: S >= 180
<r1> to <r18>: unused

[Albert]

Thank you for your feedback.

We'll be updating RoboDK again in less than a week and we'll include this fix to properly output the Flip flag in the Yaskawa Motoman post processor.