11-20-2019, 09:53 AM
Hi Albert,
My checking result of your suggestion #2 is we don't have SETTOOL feature in our controller so I cannot try your suggestion with our controller.
But I generated the JBI with Motoman_UsingOptions, same content as the file I upload (RobotDKHome.JBI). Didn't find "SETTOOL" command in JBI file.
In this period of time testing with Motoman robot, my suggests for RoboDK to improve the python post processor of Motoman robot are,
1. When generating JBI file with join pulse format, the RJ (relative job) attribute cannot enabled. Otherwise, the JBI file cannot upload to controller. (This can be done with set "USE_RELATIVE_JOB = False" in Motoman_Cartesian.py.)
2. Please check the solution I provided previously to fix 7-axes pulse output format issue.
3. The speed settings of MOVL command (Minor issue mentioned in my previously post).
4. When generating pulse format JBI (ex. using Motoman_Cartesian.py poster), the robot pose should consider tool settings. RoboDK should send same pose data as simulation ("run_on_robot" feature) to poster for generating pulse format job file.
*** But keep the same rule (current output rule) when user chooses Motoman_CartesianOnly.py
Best regards.
Pence
My checking result of your suggestion #2 is we don't have SETTOOL feature in our controller so I cannot try your suggestion with our controller.
But I generated the JBI with Motoman_UsingOptions, same content as the file I upload (RobotDKHome.JBI). Didn't find "SETTOOL" command in JBI file.
In this period of time testing with Motoman robot, my suggests for RoboDK to improve the python post processor of Motoman robot are,
1. When generating JBI file with join pulse format, the RJ (relative job) attribute cannot enabled. Otherwise, the JBI file cannot upload to controller. (This can be done with set "USE_RELATIVE_JOB = False" in Motoman_Cartesian.py.)
2. Please check the solution I provided previously to fix 7-axes pulse output format issue.
3. The speed settings of MOVL command (Minor issue mentioned in my previously post).
4. When generating pulse format JBI (ex. using Motoman_Cartesian.py poster), the robot pose should consider tool settings. RoboDK should send same pose data as simulation ("run_on_robot" feature) to poster for generating pulse format job file.
*** But keep the same rule (current output rule) when user chooses Motoman_CartesianOnly.py
Best regards.
Pence