It seems that I am close enough to finish the job and it is time to share progress in offline programming of Motoman L106 with Yasnac RX controller.
Two PNG files are attached, Home and Finished JOB.
Base for solution development was FreeBasic BrazoPLT program for inverse Kinematic simulation of robot arm with 5 DOF. For plasma/gas cutting four DOF is enough. Base program is heavily modifieded but graphic part is almost untouched. L106 geometry constrains are added to kinematic subroutine and several subroutine are added. One of them is rudimentary compiler of paths to Yasnac program format.
Tools for paths preparation are:
- some CAD program capable to save drawings in dxf format (it was easier to draw in familiar CAD than Inkscape but Inkscape is great tool and CAD is not really necessary),
- Inkscape for paths grouping and continuation (connecting all lines in one contour pointing CW or CCW),
- FreeBasic program for inverse kinematic (definition of angles for S, L, U, B axes) and data compilation in Yasnac RX format and
- uploader to Yasnac RX or Yasnac FC1 (in the future will be the part of Motoman L106 Offline Programming)
Testing on Motoman L106 will be in a week or earlier
References:
BrazoPLT.zip - great place!
Motoman L106 manuals - Yaskawa site
OpenGL manuals, examples
FreeBasic manual, examples
Why FreeBasic? It was fun to make Windows program so easy. Next version will be more Win like using FireFly IDE for making GUI.