NACHi Post Format Error and Correction Example- Printable Version +- RoboDK Forum (//m.sinclairbody.com/forum) +-- Forum: RoboDK (EN) (//m.sinclairbody.com/forum/Forum-RoboDK-EN) + - - -论坛:General questions about RoboDK (//m.sinclairbody.com/forum/Forum-General-questions-about-RoboDK) +--- Thread: NACHi Post Format Error and Correction Example (/Thread-NACHi-Post-Format-Error-and-Correction-Example)

NACHi Post Format Error and Correction Example-Omoikane-07-04-2020 Hi all, I need help modifying the post processor for a NACHi robot. I think I know what is happening. This is related to other posts such as: //m.sinclairbody.com/forum/Thread-Nachi-Generate-programm-Points-are-shifted-by-values-of-userframe?highlight=Nachi The suggestion to make the post processor to use the user coordinate system by 打开文件:C: / RoboDK /文章/ OTC.py Comment the line self.REF_FRAME = pose (around line 260, just add the # character in front) will produce the correct numerical values for the Cartesian coordinate in the post, but still with the wrong format. I attached 3 zip files here for you to review: 1) the RoboDK file following the spray paint program from the tutorial (yes, I am still learning from those). 2) the post from RoboDK after commenting the line #260ish following instruction above to use user coordinate system. The main program 110 will call 111, 112, 113 3) the post I edited manually to get them working Here is what I did: 1) Using the teach pendent, I added User Coordinate Frame 1 (same location as the work piece frame in RoboDK) to the robot controller, and also added Tool 1 geometry (same definition as in RoboDK). 2) In 110, before calling the subprogram, I inserted the line CHGCOORD 1 to use user coordinate frame 1. I inserted the line CHGCOORD 0 to user the robot base frame before ending the program. (It is probably a good idea insert these two lines in ALL subprogram though. CHGCOORD is fn113. It should be called before the move(s).) 3) Add a "U" to MOVEX lines. (Note: MOVEX M1J doesn't need it because it is joint move.) For example, in 111 before MOVEX M1X,L,(222.258,199.775,333.893,0.000,-0.000,0.000),S=200.00,H=1,MS after MOVEX M1X,L,(222.258,199.775,333.893,0.000,-0.000,0.000)U,S=200.00,H=1,MS Note the U after ')' And that's how I get the program to work. I also compiled and ran these on FD on DESK II before i sent to the robot. So, my question is: how do I modify the post processor to do these steps automatically? Thanks! RE: NACHi Post Format Error and Correction Example-Albert-07-06-2020 Thank you for your feedback. This helps us improve our default post processor for Nachi and OTC robots. Taking a look at your modifications, I attached an updated post processor for OTC and Nachi robots to handle the following: Use the CHGCOORD with all set reference frame instructions: the id of the reference will be 0 by default if you don't use any numbered frames. However, you can add a number to your reference frame in RoboDK (for example, rename your reference to "workpiece 1" to generate "CHGCOORD 1"). Add a U after the pose if you are using a numbered reference frame. Let me know if this works better by default or you would like to see other changes. Albert RE: NACHi Post Format Error and Correction Example-Omoikane-07-12-2020 Hi Albert, I've tested out the new post processor. So far so good. : ) I promise I will learn Python next. I think I can get more out of RoboDK if I know it. (It is not hard. It is just time. : p) Thanks! RE: NACHi Post Format Error and Correction Example-MaRobot-09-08-2021 Hi all, I have made some changes in the Postprocessor. Now my question is if every Robot Model has the same type of functionnaming I've got a MZ12-01 with a CFD-Controller Changes I made The Robot-programname normally was "MZ12-01-01-A.005" Change to generate a program in Nachi-Software "MZ12-01.005" Line 115 self.BASE_PROGNAME = robotnamelist[1] + '' # #Before ... + '-01-A' When calling Subprogram(s) the squaret brackets interfere with the Nachi-Software Should be CALLP XX instead of CALLP [XX] Line 173 mainprog += 'CALLP %03i\n' % (self.PROG_ID+i+1) #Before ...+='CALLP [%03i]\n' I would like to know if these are general issues at the Nachi PP or just for my robot-model Programming isn't my strenght... maybe there are some better solutions Another thing I would like to change is the numeration of the called subprograms The Programs start with .005 (always main) Think it refers to Line 58 PROG_ID=5 My idea would be like this example: 'generate robot program as...' MZ12-01.XX #For XX type a number (Main Prog) # Calling X+n subprograms MZ12-01.XX+1 MZ12-01.XX+2 MZ12-01.XX+... hope myideaisgood,whatIfalldownonisimplementingit... Markus