I am upgrading our robots from old 2000iA to 2000iC. I am using Roboguide to check programs before changing robots. When I import a program from the old robot to the new robot all Cartesian points are close but because the mechanical units are different the Joint positions are not close. On the newer robots there is a edit command that will change all positions in the program from joint to cartesian but I need to convert before I import. Is there a function in roboguide that will keep me from having to go to each position and change it?
Changing robot types from 2000iA to 2000iC
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Frank England -
August 17, 2022 at 5:47 PM -
Thread is Unresolved
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Yes. Re-serialize your robot, and select option J975 Pos.Rep.Conversion. A new option will show up under the EDCMD menu when you are editing a program, and it will allow you to change all the points from XYZWPR to Joint, or back.
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Cartesian is Cartesian. The positions will be the same. Wether or not they are reachable...
What is your goal?
If the DH parameters (link lengths) are different, the Cartesian positions derived from the joint angles will be different.
As a gross example, you could translate the same 6 DOF joint positions on an LR-Mate, but the resulting Cartesian coordinates would be useless.
How many positions are stored in joint representation?
Are these points, or position registers?
When positions are stored in joint representation, it's usually for a reason. I think it would be better to analyze why they were stored that way in the first place and then recreate them on the new robot.
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Nation
I have tried to add that option to the backdate file I am using but it did not show up. In the robots we have I have only seen this option in V7.5 and above. If I try to create a robot using V7.5 it doesn't give me an option for a 2000iA mechanical unit. I do not know what you mean to Re-serialize
pdl
If the positions are converted to cartesian they use the tool center point so when I translate them to the new robot the points are the same. I have done this when changing from a 2000iA to a 900/360.
The reason they are in joint representation is the original programs are sent from our parent company in all joint and we have to change all of the welding positions to cartesian before they will run.
Each robot has at least three running programs with 10 and above points in joint and there are about 150 robots
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Ahh, I see. Looks like that option only appeared in v7 and on. You could try out my position converter in my signature, or try out the karel code posted here: Re: Position Converter - Convert from XYZWPR Rep to Joint Rep and Back
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Ahh, I see. Looks like that option only appeared in v7 and on. You could try out my position converter in my signature, or try out the karel code posted here: Re: Position Converter - Convert from XYZWPR Rep to Joint Rep and Back
I didn't see a 2000iA in the list has it been added?
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Did you try the Karel code? If you can get me the DH parameters for the R2000iA, I'll add it to the program.
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Robot is to old it will not load
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Attached is a version recompiled for V6.40.
Also, I've updated my convertor in my signature to handle R2000iA-165F, with and without the insulated flange, and the 200F variant, with and without insulated flange. You have to take a full backup, and have all the human readable files in the MD drive (.ls, .va, .dg) as well for it to work though.
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Thank you sir