Use the new tool in the move instructions.
Then you should use the function CalcJointT with the old tool and then CalcRobT on the result using the new tool.
Here is an example for one of your robtargets. Check the RAPID manual for detailed information.
VAR jointtarget jtJointPos;
jtJointPos:=CalcJointT(p530,tRobactaDriveCMT\WObj:=WobjSTN1);
p530:=CalcRobT(jtJointPos,New_Tooldata\Wobj:=WobjSTN1);What do you mean with not defined? Where is the data for your targets (p500, p510, p520, etc.) coming from?
Okay, understand. The points are directly stored in the instructions. I'm not aware of an (easy) method to modify "*-positions".
I've had a few situations where I had to change a lot of * to robtargets/jointtargets on old systems. Took hours of cut, paste, edit with text editor, not forever. Trick was to do about 50 and then verify in the controller. Once that worked, saved the program (or routine) and moved on to the next 50. Using text editor in RS should catch common problems like missing or double commas.
You'll appreciate the effort spent now on projects going forward.
.. Unfortunately we can not create a station for S4C on robotstudio version we have..
Shouldn't be necessary to create a station for S4C. If the robot type is available for your robot studio just create a new station for IRC5 and load the programs into robot studio. You will have to configure i/o signals to get rid of error messages, but this normally is easy to do with search/replace in an editor after exporting eio.cfg and comparing old and new format of the projects.
