My situation is I have a Cloos Quirox robot that was originally a welding robot that has been modified to a cutting robot. It hangs upside down and uses a oxygen/propylene torch to cut circular objects out of cylinders. Currently I use an excel spreadsheet to calculate the points then run the spreadsheet through a software package called MacroPointsEditor and then transfer the .s, .p, and .z files to the robot and then I can run the robot to perform cutting operations. The engineers that had knowledge of the robot have since left the company and with them the knowledge on programming. I have several legacy programs that I use on a daily basis but I am trying to add more products that I can run on the machine. I have written a new excel spreadsheet and when I run it through the MacroPoints I get errors that state it is unable to create the .s, .p, and .z files. I can manually program the points and the same program runs fine but as you can imagine it takes a very long time and just isn't feasible. Through trial and error I have determined that my problem lies in the axis reference portion of the excel sheet. To be honest I don't know how the axis references are produced or even in what measurement system (ie, pulse, xyz, etc). My question is does anyone know what they are? Or how to calculate them?
Any help would be appreciated.