i have a question about the default controller.
robot is defined as default robot
i define in ps a tcp in robot toolbox.
i create a robot path with selected tcp from robot toolbox.
i create a download from these path.
in download is missing the tcp info (from robot toolbox)
is this a bug or wrong workflow?
START_MOTION PTP home
process = ;
loc_type = VIA;
x = 1241.219;
y = 0;
z = 2287.171;
rx = 180;
ry = 80.136;
rz = 180;
rrs_config = OH- J3- J5+, T1:0 T4:0 T6:0;
j1 = 0;
j2 = -110.321;
j3 = 79.759;
j4 = 0;
j5 = 40.426;
j6 = 0;
[DOUBLE]RRS_JOINT_SPEED = 100;
[INT]RRS_MOTION_TYPE = 1;
[STRING]RRS_ZONE_NAME = fine;
[INT]SW_GUN_STATE = 4;
[INT]SW_GUN_WAIT = 0;
[STRING]TOOLBOX_WORK_TOOL_GUID = 80ba945c-9f1a-44b5-8134-fd6280190135;
[STRING]TP_SPEED_TYPE = Joint Speed;
The default controller download only dumps the location parameters as is, there is no treatment whatsoever.
However, it is possible to use XML customization with the default controller to produce something that suits your need.
after the download i will load this file in external tool.
in these tool i create and prepare the syntax completly new for my own robot program.
or change a olp comment to real robot syntax.
with motion commands in ps (to create tool or other data) is too much work.
this kind of syntax i need, is not available in default controller download.
ok i found the workaround!
i must select the frame of the gripper in default teach pendant.
in path editor is not possible to select a toolframe.