[Hiroe]

Hello, RoboDK team


One of our customer thinks that MoveC command does not work well in OTC post processor.
(He created the project as attached at first, then tried again after deleting MoveC, working well)
Can someone clarify this problem?

On the other hand, he would like to see whether it is possible to import a robot program with MoveC. But I think RoboDK does not suppot import Robot program created by daihen, is my understanding correct?

[Vineet]

Hello Hiroe

I fixed the issue with MoveC. If you can send us an email, I can send you the updated Post Processor.

Generated Code for the station:

Code:

' Program generated by RoboDK v5.2.3 for Daihen OTC FD-V8 on 01/06/2021 12:45:21
' Using nominal kinematics.
' Using reference frame:
' USERFRAME=(0.000,0.000,0.000,0.000,0.000,0.000)
' (using all targets with respect to the robot base)
CHGCOORD 0
MOVEX M1J,P,(0.00000,90.00000,0.00000,0.00000,-90.00000,0.00000),S=500.00,H=1,MS
MOVEX M1J,P,(0.00000,90.00000,0.00000,0.00000,-90.00000,0.00000),S=500.00,H=1,MS
MOVEX M1J,P,(16.76260,126.50000,-40.51520,-17.22060,-43.53890,24.68650),S=500.00,H=1,MS
MOVEX M1J,P,(16.76260,126.50000,-40.51520,-17.22060,-43.53890,24.68650),S=500.00,H=1,MS
,130.169,602.000 MOVEX M1X, L (785.713, 0.000, -0.000,0.000),S=20.00,H=1,MS
MOVEX M1J,L,(16.76260,126.95100,-44.88550,-18.57450,-39.80840,26.49800),S=20.00,H=1,MS
MOVEX M1J,C1,(15.29040,91.27930,-19.91780,-22.41710,-29.27380,30.73190),S=20.00,H=1,MS
MOVEX M1J,C2,(-7.61517,84.96500,-13.40960,11.78730,-27.30380,-15.90570),S=20.00,H=1,MS
PAUSE 0.010
MOVEX M1X,L,(775.675,118.104,602.000,0.000,-0.000,0.000),S=10.00,H=1,MS
MOVEX M1J,L,(15.63090,128.41500,-45.51670,-17.14710,-40.25740,24.44050),S=10.00,H=1,MS
PAUSE 0.010
MOVEX M1J,C1,(-22.29380,113.62300,-37.79220,27.04460,-36.15410,-38.56910),S=20.00,H=1,MS
MOVEX M1J,C2,(-8.68265,85.44370,-13.92580,13.37200,-27.48780,-18.07120),S=20.00,H=1,MS
MOVEX M1X,L,(1208.600,-130.575,650.000,0.000,-0.000,0.000),S=20.00,H=1,MS
MOVEX M1J,L,(-8.68265,85.87430,-10.21160,11.77700,-31.53360,-16.23970),S=20.00,H=1,MS
MOVEX M1J,P,(0.00000,90.00000,0.00000,0.00000,-90.00000,0.00000),S=20.00,H=1,MS
MOVEX M1J,P,(0.00000,90.00000,0.00000,0.00000,-90.00000,0.00000),S=20.00,H=1,MS
END

Also, you can use our API to write your own script, to create RoboDK programs from your Daihen programs.