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download with default controller in ps

hello,

 

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?

thanks

 

 

   START_OPERATION R2
     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;
     END_MOTION

 

Kind regards,

Benjamin Voelzke
10 REPLIES

Re: download with default controller in ps

[ Edited ]

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.

Re: download with default controller in ps

do you mean the custom xml's?

 

"RoboticsCustomizedUIManual.pdf"

 

or other way?

 

 

Kind regards,

Benjamin Voelzke

Re: download with default controller in ps

yes custom XML, MotionConfiguration

Re: download with default controller in ps

Man Embarassed

Man Embarassed

Man Embarassed

Man Embarassed

Man Embarassed

Man Embarassed

 

Kind regards,

Benjamin Voelzke

Re: download with default controller in ps

What are you trying to achieve using the download of the default controller?

Re: download with default controller in ps

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.

Kind regards,

Benjamin Voelzke

Re: download with default controller in ps

if you use frames instead of worktool, then you would get a name and maybe can more easily postprocess this information.

Re: download with default controller in ps

in default controller i can't insert frame

i select a frame but the field stays empty

 

 

Kind regards,

Benjamin Voelzke

Re: download with default controller in ps

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.

 

bug?

Kind regards,

Benjamin Voelzke