Transfer between robots

    Hi all. Have a problem I have solved but don't understand why my method didn't work. We have 2 robot cells - mirror images of eachother. I copied the jbi file over and tried to run it - pulse limits alarm went off. I then defined a new UF with the exact pulse data set up from robot 1 to robot 2, and called the program in the new user frame. The robot moved but to some very odd positions and some it couldn't reach at all. Why does redefining the exact user frame and copying the jbi file not work?

    I have since followed the procedure of changing from relative - standard job and transferring this over so no long have the issue. Just curiosity in how the file / position data works if it's defined in the exact same user frame. Thanks in advance

    One thing i can think of is this:

    If the cells are mirror images fo themselves and if you copy pulse data from robot 1 to 2, the positions are not mirrored, only shifted in your coordinate system, if you understand what i mean.


    Have you tried doing this by using the MIRROR SHIFT function. That should mirror your positions to the other cell not only shifting it

    What I don't understand is though, if all the positions are programmed in a user frame, and I redefine that user frame on a different robot, whether mirrored or not, the user frame definition and positions should be the same no?

    Obviously they aren't like I said, but maybe I'm misunderstanding how the user frame definitions are done.

    I will try and explain how the user frame works ( as i understand it).

    You have your positions defined in pulse type. So lets say step 1 is P000 (2000,0) for the first robot to move to that position.

    Now you define the new frame for the second robot with the same P000(2000,0).

    The pulse type of P000(2000,0) in your created user frame doesnt match the same point as in the frame of R1. Instead it should be P000(-2000,0) or atleast i think it should.

    Your robot literally has a programed function to do this in any type of coordiante system, the functions are called PULSE/USER-COORDINATES/ROBOT-COORDINATES MIRROR functions.

    Use those points and your program positions will be correct. If you try and shift the positions yourself, you must think about how the Mirroring will affect each pulse type position, meaning you need to assign +/- values as i explained with the P000 variable.


    I would also suggest you do some reading of the yaskawa pdf : chrome-extension://efaidnbmnnnibpcajpcglclefindmkaj/https://www.motoman.com/getmedia/C92FC…A903/178645-1cd, Specifically about the mirror shift function

    The jobs with regular command positions are stored in pulse counts, not XYZ.

    If you want to convert jobs with command positions from pulse to XYZ (user frame), then you need an option called RELATIVE JOB. This is a purchasable software option. Once you convert your job from pulse to XYZ (user frame), you can then go into the job header of a job and tell it what user frame to run on.


    Hope this helps!

    Hi both, thank you for the responses. We have the RELATIVE JOB option, which is what I used and redefined the user frame to move the program over.

    What I would like to know, which I can't understand and may not be explaining well - by defining the same user frame in pulse on both robots, why this does not work to moving to the same positions? Is this because the robots are mirror images or is there something I am missing.

    The Pulse Value is how much Electrical Pulse Impulses each axis needs to get to a certain position.

    Pulse value for one robot and its cell doesnt necesarily mean the same position for another robot and another cell.

    You would need to change your Pulse type position variables to XYZ type, transfer those over to your other robot cell and then you could use them for your other robot, i think.

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