Running Motoman XRC programs on RoboDK

• Hi,

I'm quite new to programming robots, so I thought getting familiar with it using RoboDK, might come useful.

I'm trying to upload a program to RoboDK, but I think the coordinates are some numbers that the robot generates internally, since they were input using manual teach.

My question is: how can you convert those coordinates to something that RoboDK (and myself) might be able to understand?

Example:

the program generates these position parameters:

C00001=-57186,-50714,-32217,-8816,-103803,37118

BC00001=218969

and then uses it in the program as so:

MOVJ C00001 BC00001 VJ=20.00

can someone please explain me the logic behind it? I also tried going through the programming guide, but no luck there.

Thanks!

• When you make a program in a Yaskawa robot you record the six encoder values at each position. The C00001=...... are the six encoder positions for the the robot. The six numbers are in order, the six axis of the robot S/L/U/R/B/T. The BC00001=.... is the base axis the robot is on.

In the program each motion command (MOVJ, MOVL...) moves to the corresponding positional data at the speed programmed. So,

"MOVJ C00001 BC00001 VJ=20.00"

is really moving the robot in Joint motion type to encoder values S:-57186,L:-50714,U:-32217,R:-8816,B:-103803,T:37118 and the base axis to 218969 at a velocity of 20%.

Robodoc

• Thanks Robodoc for the quick reply.

Is there a way to decode the encoder values? how can I use absolute coordinates instead?

Best Regards,

Sam