[hoolymama]

I have a program with subprograms, and each subprogram specifies a tool. In the resulting program file a procedure is defined for each subprogram, and only the first one has a line to specify the tool. As a result, the real robot knows it has a tool for the first program, then for the second, it considers the flange to be the TCP. The model in RoboDK behaves as expected. I can't figure out how the postprocessor removes the setTool instructions.

Code:

DEF C_0_stroke_prog ( )
; ...
20元AXIS_ACT;跳过BCO很快
英航美元SE = {FRAME: X 0.000,Y 0.000,Z 0.000,A 0.000,B 0.000,C 0.000}
$TOOL = {FRAME: X 0.000,Y 0.000,Z 205.000,A 0.000,B 0.000,C 0.000}
; Show paintbrush2Shape
$VEL.CP = 1.00000
PTP {AXIS: A1 -97.95481,A2 -64.68960,A3 115.43524,A4 152.84739,A5 76.05941,A6 100.41150}
LIN {X -64.192,Y 1659.559,Z 1175.153,A 162.369,B -7.105,C 68.735}

; ...
END

DEF C_1_stroke_prog ( )

20元AXIS_ACT;跳过BCO很快
$APO.CPTP = 100.000
$APO.CDIS = 100.000
; Show paintbrush2Shape
$VEL.CP = 1.00000
PTP {AXIS: A1 -36.34085,A2 -55.72483,A3 88.11530,A4 -0.00000,A5 57.60954,A6 -36.34085} C_PTP
LIN {X 1287.834,Y 947.423,Z 825.569,A -180.000,B -0.000,C 180.000} C_DIS

; ...
END

[Albert]

RoboDK automatically filters setting the same tool or reference frames more than once.
This is a default setting and can be changed with following steps:

• Select Tools-Options
  
• Uncheck "Filter setting reference and tool frames"
  

[hoolymama]

RoboDK automatically filters setting the same tool or reference frames more than once.
This is a default setting and can be changed with following steps:

• Select Tools-Options
  
• Uncheck "Filter setting reference and tool frames"
  

Hi Albert,

I'm wondering if filtering should be off by default? It causes the robot to do something different than the simulation in RoboDK. Or is this something that's handled differently by different robots?

[Jeremy]

It causes the robot to do something different than the simulation in RoboDK.

Can you elaborate? What kinds of different behaviors are you experiencing?

Jeremy