Change Turn values for all point of a program

    Hello, I'm using a KR120 R3100. KSS 8.7.5 with controller KRC5.

    We have an application where the robot will do the same task in two differents tables. The tables are placed one in front of the other on each side of the robot. The task will be programmed with a third party offline programming softwere. We want to use the same program to do same task on both tables. Each table has its own base and all the points are programmed with base of table one. However, if I try to run the same program in the second table the Turn values for A1 are wrong for all the points. For one table the bit value for A1 will always be 0, and for the other it will be 1, because of the disposition of the tables around the robot. It means I could increase the turn value of all points by 1 if the program is running on second table or leave it as is if the program is running on first table.

    We will a lot of different programs for differents tasks. The programs are downloaded into the controller with directoryloader option.

    Each program can have a different number of points and even the names of the points doesn't always follow a pattern.

    So my question is: Is it a way to change all the Turn values of a .dat file? Is it a fonction for "find and replace"? Maybe a loop can be used in that case and I can create fonction that changes the values just before running the program.

    We want to avoid the option of posting a different program for each table since it could generate small differences.

    Here is a picture of the table disposition around the robot.

    I'm not aware of such a function. Could the third-party software generate two separate .dat files—one for each table? Do you have a sample of the generated code from this software?

    Alternatively, my initial idea would be to use a single .dat file with an array of points, like this:

    Code
    DECL POS arrOfPoints[100]

    Then, in the first line of the program, set all the turn values based on the active table.

    Quote from d_espinoza

    The task will be programmed with a third party offline programming softwere...

    Is it a widely known/used software, why not mentionig the name?

    Quote from d_espinoza

    .., So my question is: Is it a way to change all the Turn values of a .dat file? Is it a fonction for "find and replace"? Maybe a loop can be used in that case and I can create fonction that changes the values just before running the program. ...

    AFAIK there doesn't exist a standard function to do your task. Many offline programing systems allow to add postprocessing. So may be you can do that and write a script in python, C or whatever postprocessor capabilities your software has.

    a lot depends on how the things are organized...

    it all boils down to determine correct values and of course identifying points if they are used with table1 or table2. ...

    if everything is inside one module and points are not named in a way to allow easy distinction, there is no easy way out.

    but if work and points on table1 are in one module, while work and points on table2 are in another module, then yes, one can use computer to bulk edit all turn values. for example this is where fnr.exe is quite handy.

    the other thing is to consider type of points and motions carefully... points on base can be Cartesian (POS or E6POS) and all motions can be CP.... but each base could use single approach point that is axis type (AXIS or E6AXIS). that way S&T don't matter...

    1) read pinned topic: READ FIRST...

    2) if you have an issue with robot, post question in the correct forum section... do NOT contact me directly

    3) read 1 and 2

    You did not mentioned what command is used to move to these points!
    Using LIN commands S and T does not matter (as long as those points are declared as frames)!

    Quote from d_espinoza

    if I try to run the same program in the second table the Turn values for A1 are wrong for all the points

    For LIN movements the next shortest move is computed by using L2 distance!

    As mentioned earlier in this thread by prev posts : EXAMPLE would be very helpful !!!!!

    Quote from d_espinoza

    So my question is: Is it a way to change all the Turn values of a .dat file

    • Yes, do inverse and forward calculation
    • use frame instead of something else
    • give examples in order to help
    • find a program to do change for you
    • read documentation in order to understand the idea behind it
    • do not use BASE
    Quote from hermann

    Is it a widely known/used software, why not mentionig the name?

    The software is Fastsuite 2, from Cenit.

    Quote from panic mode

    the other thing is to consider type of points and motions carefully... points on base can be Cartesian (POS or E6POS) and all motions can be CP.... but each base could use single approach point that is axis type (AXIS or E6AXIS). that way S&T don't matter...

    That's the main dificulty. The programs doing the task can have all type of motions, not only CP motions.

    We contacted the offline programming software company to see if they can make the changes directly with the post. Our second choice is to program an algoritme to do the changes juste before loading it into the controller.

    Thank you all, I'll let you know our final solution.

    Edited 2 times, last by d_espinoza (December 6, 2024 at 4:02 PM).

    Quote from d_espinoza

    So my question is: Is it a way to change all the Turn values of a .dat file? Is it a fonction for "find and replace"? Maybe a loop can be used in that case and I can create fonction that changes the values just before running the program.

    Not easily.

    Your best option would be to fix it in the postprocessor of the Cenit software. For example, have an option switch that changes the T values based on how it's set. Another option might be to have the postprocessor simply not output T (and maybe S) values -- if the robot is commanded to move to an E6POS that has no S or T values, it will pick S&T by a "least motion" method compared to where the motion is starting from. A third option would be to have the postprocessor output positions as FRAME variable instead of POS or E6POS, as FRAMEs contain only XYZABC values with no S&T. However, FRAMEs also don't support external axes.

    The next option would be to create a PC-side script that would read in the Cenit output, and generate a copy with a new name and all the T values replaced.

    Doing it on the robot would require restrucuring of your program architecture. For instance, instead of the Cenit output moving the robot, it would do a copy&paste of all the E6POS values into a Global array of FRAMEs, or of E6POSs and skip the S&T, then call a program that runs that array, with the BASE setting being switched depending on whether you're running Table 1 or Table 2.

    Leaving S&T data out of a KRL motion command usually works, but does have some risks. Usually, to make this work correctly, the correct starting S&T are established by moving the robot to either an E6POS with correct S&T values, or by using a E6AXIS move.

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