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Uframe definition - import issue

Creator
Creator

I made a user frame with Motoman robot and now I'm trying to import it to RobotExpert (it's a uframe.cnd file), but it's not working. I'm able to import all the tool frames (from tool.cnd file) though. What might the problem be?

4 REPLIES

Re: Uframe definition - import issue

Siemens Phenom Siemens Phenom
Siemens Phenom

Expected UFRAME.CND syntax is the following:

//UFRAME 1
///NAME CONVR1
///TOOL 2
///GROUP 1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
///PULSE
////RORG C000=0,104070,-20795,0,0,0,0,0,0
////RXX C001=106310,176132,95302,589,36465,-14,0,0,0
////RXY C002=-264,56097,-97343,0,0,0,0,0,0
////BUSER 1952.225,0.000,-762.460,-0.3081,-0.0253,90.3620
//UFRAME 2
///NAME
///TOOL 2
///GROUP 1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
///PULSE
////RORG C000=0,104313,-20430,0,0,0,0,0,0
////RXX C001=125961,179558,100065,1,0,0,0,0,0
////RXY C002=0,56670,-96947,0,0,0,0,0,0
////BUSER 1952.225,0.000,-762.460,-0.3081,-0.0253,90.3620
//UFRAME 5
///NAME X52
///TOOL 5
///GROUP 1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
///PULSE
////RORG C000=-184518,11098,-46681,118561,101488,30819,0,0,0
////RXX C001=-176069,-11269,-66768,114664,104798,29815,0,0,0
////RXY C002=-154730,-1904,-56897,103758,113374,26992,0,0,0
////BUSER 1952.225,0.000,-827.460,-0.3081,-0.0253,90.3620
//UFRAME 63
///NAME WRONG DATA
///TOOL 0
///GROUP 1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
///PULSE
////RORG C000=-207048,237198,201135,3,0,1,0,0,0
////RXX C001=-191825,237198,201135,-18391,0,1,0,0,0
////RXY C002=-194025,231448,182487,-18391,5292,1,0,0,0
////BUSER 563.831,-2798.143,-301.279,-69.9690,-0.7309,14.4447

Re: Uframe definition - import issue

Creator
Creator

//UFRAME 1
///NAME TEST
///TOOL 10
///GROUP 1,1,0,0,0,0,0,0
///PULSE
////RORG C000=155615,74419,11184,861,-39500,-90664
////BORG B000=59760
////RXX C001=132486,55500,-28660,675,-32691,-83803
////BXX B001=59760
////RXY C002=151389,86007,36898,755,-44087,-89355
////BXY B002=59760
////BUSER 1402.988,789.266,-373.047,1.01,-0.15,-60.22
//UFRAME 2
///NAME LEVYTELINE TESTI
///TOOL 9
///GROUP 1,1,0,0,0,0,0,0
///PULSE
////RORG C000=58308,60017,-51556,75145,-59131,-72568
////BORG B000=-106182
////RXX C001=57619,77392,13089,69994,-61651,-63266
////BXX B001=-106182
////RXY C002=49010,18866,-70502,75082,-57463,-65314
////BXY B002=-106182
////BUSER -250.651,2342.913,-333.621,109.16,-21.17,117.60
//UFRAME 3
///NAME 3D PRINT
///TOOL 7
///GROUP 1,1,0,0,0,0,0,0
///PULSE
////RORG C000=28072,16234,-43481,-81265,37286,-47347
////BORG B000=82230
////RXX C001=34135,28498,-24956,-84450,40328,-46511
////BXX B001=82230
////RXY C002=39841,4083,-60057,-84432,42971,-47926
////BXY B002=82230
////BUSER 1529.237,-1960.767,128.113,0.21,0.41,-1.18
//UFRAME 4
///NAME AKI
///TOOL 0
///GROUP 1,1,0,0,0,0,0,0
///PULSE
////RORG C000=-114988,12939,-55138,7727,-51365,-9501
////BORG B000=67249
////RXX C001=-109908,7176,-63065,7175,-51400,-10876
////BXX B001=67249
////RXY C002=-111420,19951,-47032,7346,-51364,-10468
////BXY B002=67249
////BUSER -114.965,-1596.486,125.019,-168.51,0.01,0.00
//UFRAME 5
///NAME JES
///TOOL 0
///GROUP 1,1,0,0,0,0,0,0
///PULSE
////RORG C000=-120215,54736,1168,12469,-72028,-16350
////BORG B000=39845
////RXX C001=-115138,50747,-6365,10759,-71545,-17682
////BXX B001=39845
////RXY C002=-117666,59146,28425,11769,-80974,-15929
////BXY B002=39845
////BUSER 232.134,-1770.941,54.570,126.92,0.00,1.54
//UFRAME 6
///NAME SAA MUOKATA
///TOOL 5
///GROUP 1,1,0,0,0,0,0,0
///PULSE
////RORG C000=139658,84893,-22107,-5465,52326,-34277
////BORG B000=179998
////RXX C001=68892,64025,-88750,39907,70148,-37035
////BXX B001=179998
////RXY C002=116306,135310,107233,18640,26401,-42858
////BXY B002=179998
////BUSER 744.063,-1716.499,-588.136,0.59,-0.34,-173.23

Re: Uframe definition - import issue

Creator
Creator

Well, I don't know why it doesn't import the values, but I entered them manually, so it's ok now.

Re: Uframe definition - import issue

Creator
Creator

Well, actually it's not quite alright. For some reason the X is 1000 mm off. Otherwise it seems fine.