Yaskawa can read PULSE and RECTAN jobs but there may be some issues with translating jobs from some systems. In case of problems please reply this thread about the issues and we try to update the translator. Please read ReadMe.txt in the package for details.
I’ve found some minor issues, with Fanuc PP. In my .ls the 0.xxx (float) values were printed out as .xxx or -.xxx PP 也无法处理配置和位置名称。
P[1:"HOME"]{ GP1: UF : 0, UT : 1, CONFIG : 'N U T, 0, 0, 0', X = 621.034 mm, Y = .549 mm, Z = 172.662 mm, W = -174.542 deg, P = -.934 deg, R = 107.944 deg };
Hello Great piece of Add-on! Can i ask you if the following code structure made in a KUKA is compatible for upload? Its a Base_Frame where im modifying the data based on an Input variable (eg. stacking height adjusted)
&ACCESS RV
&PARAM EDITMASK = *
&PARAM TEMPLATE = C:\KRC\Roboter\Template\ExpertVorgabe
DEF Pickup_subject( )
ENDECL GLOBAL FRAME Base_data[13]
;*********************************************************
;Fixed offset program base by values or variables
;*********************************************************
Base_data[13]=$NULLFRAME
Base_data[13].x=Base_data[13].x+0 ;Shift base in x-direction
Base_data[13].y=Base_data[13].y+0 ;Shift base in y-direction
Base_data[13].z=Base_data[13].z+giLayerToPlace*rCurrentCellHeight+0 ;Shift base in z-direction
Base_data[13].a=Base_data[13].a+0 ;Shift base in z-rotation
Base_data[13].b=Base_data[13].b+0 ;Shift base in y-rotation
Base_data[13].c=Base_data[13].c+0 ;Shift base in x-rotation
;*********************************************************
;Set program base definition to table 1 and table 2
;*********************************************************
Base_data[16]=Base_data[2]
Base_data[16]=Base_data[16]:Base_data[13]
No I don’t think this will be translated. This sort of math operations rarely translate well into VC program. While we do have SetBase statement the problem is that you cannot use variables in that statement to shift the base. So translating this sort of logic is near impossible to do as the vocabulary of VC language is so much smaller than KRL.
No new pre-processors are being planned at the moment. Pre-processors in general are really difficult to make because the VC language is so much simpler than native robot languages and therefore there are big limitations on what you can translate to VC. Lately the trend has been going more towards the use case where you run the native code on virtual controller and connect virtual controller to VC simulation. That way we don’t have to worry about some functionality missing on VC controller/executor. And for that connectivity we might have some news soon for Doosan specifically.
We don’t have any plans to develop new translators for this forum add-on. Nowadays we have specific product for offline programming in Robotics OLP (Robotics OLP - Visual Components). That product includes translators for many brands including UR. I would say that these OLP translators in general are better because they have been developed and tested in production environment whereas these forum add-ons are more of a sample with limited testing usually against virtual controllers only. Of course the OLP translators are not available for basic Essentials user but if you are in need of a good offline programming software I would suggest to look into our OLP products.
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