Hello everyone,
finally i get the postprocessor to work, but now i have another problem, hope someone can help me as i don't know what is happening 
The robot is moving the end of the tool following the toolpath, provided by the postprocessor, the problem is that the tool is oriented horizontally instead of vertically.
here is a sample code - the start of the src file:
&ACCESS RVO
DEF vr1()
;FOLD INI
;FOLD BASISTECH INI
GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )
INTERRUPT ON 3
BAS (#INITMOV,0 )
;ENDFOLD (BASISTECH INI)
;FOLD USER INI
;Make your modifications here
;ENDFOLD (USER INI)
;ENDFOLD (INI)
$VEL_AXIS[1] = 20
$VEL_AXIS[2] = 20
$VEL_AXIS[3] = 20
$VEL_AXIS[4] = 20
$VEL_AXIS[5] = 20
$VEL_AXIS[6] = 20
$IPO_MODE=#BASE
; $BASE = {X 0, Y 0, Z 0, A 0, B 0, C 0}
; $TOOL = {X 0, Y 0, Z 0, A 0, B 0, C 0}
; BASE_DATA[1] = {X 0, Y 0, Z 0, A 0, B 0, C 0}
; TOOL_DATA[1] = {X 0, Y 0, Z 0, A 0, B 0, C 0}
$BASE = BASE_DATA[1]
$TOOL = TOOL_DATA[1]
$APO.CDIS = 0.2
$ADVANCE = 3
; Joint angles at start point : {A1 0,A2 0,A3 0,A4 0,A5 0,A6 0}
; PTP {A1 0,A2 0,A3 0,A4 0,A5 0,A6 0}
; PTP {X 362.87,Y 465.41,Z 59.84,A 0,B 0,C 0,E1 0,E2 0,E3 0,E4 0,E5 0,E6 0,S'B000000',T'B000'} - [u]i had to comment this line as it gives an error[/u]
$VEL.CP = 0.05
LIN {X 362.87,Y 465.41,Z 4.84,A 0,B 0,C 0,E1 0,E2 0,E3 0,E4 0,E5 0,E6 0} C_DIS
$VEL.CP = 0.0067
LIN {X 362.87,Y 465.41,Z -19.83,A 0,B 0,C 0,E1 0,E2 0,E3 0,E4 0,E5 0,E6 0} C_DIS
$VEL.CP = 0.0667When i change the B to 90 here: LIN {X 362.87,Y 465.41,Z -19.83,A 0,B 90,C 0,E1 0,E2 0,E3 0,E4 0,E5 0,E6 0} C_DIS - the tool is vertical and the program runs fine and cuts the model properly.
But that means that i need to change manually the B rotation. That's fine when working in 3 axis mode, but not possible for multiaxis.
I checked the tool orientation and it says that the tool direction is vertical. I did the XYZ and world 6d tool calibration, but the result is the same.
Any ideas what may be wrong? Something changed into the robot? Can i change the B rotation permanently with the tool? Or any other idea?
Thanks in advance!
I am attaching an illustration of the tool position for better understanding :
