[Borgis1]

Hi
Posting without sync positioner I get a post type base. With robot base system
If I sync, I also get base, but yaskawa robots reads that as positioner base and not the robots base.
How do I get post type robot instead of base?

[Albert]

You can change the variable USE_RELATIVE_JOB from False to True of your Yaskawa Motoman post processor to generate Cartesian targets. You can also set the variable USE_MFRAME to True to set the reference frame the same way it is setup in RoboDK.

You can find more information about the post processor variables you can change here:
https://robodk.com/post/Motoman

[Borgis1]

No
Relative job switches from pulse to cartesian. I want cartesian.
More exact I want to use ///postype robot
I only manage to use ///postype base.
When I use base in sync movements I get only base from positioner and NOT the robot.

If you look at my attachment you can see what I want

[Albert]

OK I see what you mean.

Is this coordinate system the reference frame of the robot? If so, why not use that coordinate system? I don't think our post processor supports outputting POSTYPE ROBOT but we can improve it to do so. The result should be the same as selecting the robot base.

[Borgis1]

///postype robot is the coordinate system automaticly chosen when I make a program on the hmi.

I thought you had implemented this, I now see why you did not automaticly catch on and I need to elaborate before we do to much work ;D

BUT, and this is the main issue and maybe not it the postype:

When I make a program in robodk without sync, ///postype base behaves the same as ///postype robot does when programmed on the HMI. Absolute zero is in the center of the robot and the object I work on is on the positioner. I have position numbers like 1000.00 ,0.00 ,500.00 , 0.00, 0.00, 0.00,

When synced with positioner, ///postype base gives me positions like 0.00, 0.00, 0.00, 0.00, 0.00, 0.00
This places the workpiece in the middle of the robot, this makes the robot trying to go into itself.

This is why I thought that base and robot was two distinct way of doing the robot coordinate system but now it seems more like a bug? When posting pulses it just works, but it is impossible to manually adjust and work with a file full of pulses instead of numbers with meaning