+- RoboDK Forum (//www.sinclairbody.com/forum)
+-- Forum: RoboDK (EN) (//www.sinclairbody.com/forum/Forum-RoboDK-EN)
+ - - -论坛:通用RoboDK问题(//www.sinclairbody.com/forum/Forum-General-questions-about-RoboDK)
+--- Thread: PostProcessor - Tweaks (/Thread-PostProcessor-Tweaks)
PostProcessor - Tweaks-WRLS_DK-02-26-2021
我是having some problems linking a custom post-processor with the actual ls file generated in RoboDK. Somehow the changes I made to the *.py file in RoboDK do not reflect in final '.ls file. Here are some details...
In the latest version of RoboDK, I modified the python file Fanuc_RJ3.py and added the parameters we need to run our robot, see below (specifically the CNT_VALUE):
# set default joint speed (percentage of the total speed)
JOINT_SPEED = '50%'
# set default cartesian speed motion
SPEED = '200mm/sec'
# set default CNT value (all motion until smooth value is changed)
CNT_VALUE = 'CNT100'
# Active UFrame Id (register)
ACTIVE_UF = 6
# Active UTool Id (register)
ACTIVE_UT = 6
# Spare Position register for calculations (such as setting UFRAME and UTOOL)
SPARE_PR = 10
Then, in my Robot Advanced Parameters, I set the post-processor to FANUC RJ3 (in the provided drop-down list)- see attached file.However, when I create an LS file (using this post-processor), the JOINT_SPEED is set at 2% instead, see below:
8: PR[10,1]=1799.300 ;
9: PR[10,2]=0.455 ;
10: PR[10,3]=-796.201 ;
11: PR[10,4]=0.040 ;
12: PR[10,5]=0.163 ;
13: PR[10,6]=90.000 ;
14: UFRAME[6]=PR[10] ;
15: UFRAME_NUM=6 ;
16: PR[10,1]=0.000 ;
17: PR[10,2]=-407.750 ;
18: PR[10,3]=251.000 ;
19: PR[10,4]=90.000 ;
20: PR[10,5]=0.000 ;
21: PR[10,6]=0.000 ;
22: UTOOL[6]=PR[10] ;
23: UTOOL_NUM=6 ;
24: ! Show TCP_MNM2 ;
25:J P[1] 2% CNT100 ;
Can anyone help me identify what I am missing in this whole setup?
RE: PostProcessor - Tweaks-Jeremy-03-01-2021
Hi WRLS_DK,
Can you provide the custom post-processor, please?
That would help me help you.
Jeremy