inform III syntax

[luckyluc]

Hi all,

I have to write a translator that generates motoman programs for a DX100 controller (Inform III).
When I analyze an existing program there are 2 items in the header that i do not understand the purpose :

///NPOS 0,0,0,2,1,0

and

///RCONF 0,0,0,1,1,0 ....

Can somebody help me plz ?

Kind regards
Luc

[ericm115]

///NPOS is the number of positions you are going to give values to in the header. IE: when you load the program into the controller, you may want to overwrite P050 with some other value than what it currently has in the controller. If so, it would look like this:

///NPOS 0,0,0,1,0,0
///TOOL 0
///POSTYPE PULSE
///PULSE
P050=-48531,98585,-65860,-81816,-34487,-25724

The 1 in the NPOS line indicates I want to overwrite 1 robot axis type position variable. If I had made it a Base Frame point though, I would have had to specify the configuration of the robot at that position (since there sometimes are multiple ways to get to a given cartesian point with a multi-axis robot). I don't know much about RCONF, I don't use it.

If you had a job with taught points (appearing as C####), the first element of NPOS would have been used to specify how many you wanted to define. ie:

///NPOS 2,0,0,0,0,0
///TOOL 0
///POSTYPE PULSE
///PULSE
C00000=-48531,98585,-65860,-81816,-34487,-25724
C00001=-35124,147575,17348,-44823,-59901,-55972

Also, check the bottom of the Relative Job Function manual for details on the job header

[luckyluc]

 
Thanks a lot ericm115!
This was the missing link to complete my program !
Kind regards

Luc