The exported robot program uses “mm” for the external rotation axis instead of “deg” degree.

In case of a FANUC “.ls” robot program it would look as follows for a linear motion point. The external axis E1 is however a rotation axis.

P[113]{
GP1:
UF : 1, UT : 1, CONFIG : ‘N U T, 0, 0, 0’,
X = 4402.896 mm, Y = -2677.32 mm, Z = 2690.996 mm,
W = -30.559 deg, P = 9.583 deg, R = -95.614 deg,
E1= -26.586 mm
};

If your exporter does not directly support switchting to deg for the given rotation axis you can have the exporter automatically modify the exported text also in the exporter setting.

Step 0: Open the “Workflow” Editor. Step 1: Select the robot “Parameters”. Step2: Add a “Text modifyier”. Step 3: Select “Regular Expression” and edit the “text to be replaced” and the “replace with”. In our case of the FANUC program exporter:

Search for: “E1=(.*?)  mm”

Replace with: “E1=$1 deg”

WARNING:

One warning though: If your rotation module is already supported and its values are correctly exported in degree, the text-replacement can have an unexpected side effect: It collects E1= and mm beyond several command lines of the robot program. This converts:

P[136]{
GP1:
UF : 1, UT : 1, CONFIG : ‘F U T, 0, 0, 0’,
X = 3714.904 mm, Y = -2037.529 mm, Z = 937.005 mm,
W = -0.085 deg, P = -86.669 deg, R = 150.35 deg,
E1= -79.611 deg
};
P[137]{
GP1:
UF : 1, UT : 1, CONFIG : ‘F U T, 0, 0, 0’,
X = 3676.824 mm, Y = -2015.773 mm, Z = 959.199 mm,
W = -0.085 deg, P = -86.669 deg, R = 150.35 deg,
E1= -79.611 deg
};

into

P[136]{
GP1:
UF : 1, UT : 1, CONFIG : ‘F U T, 0, 0, 0’,
X = 3714.904 mm, Y = -2037.529 mm, Z = 937.005 mm,
W = -0.085 deg, P = -86.669 deg, R = 150.35 deg,
E1= -79.611 mm
};
P[137]{
GP1:
UF : 1, UT : 1, CONFIG : ‘F U T, 0, 0, 0’,
X = 3676.824 mm, Y = -2015.773 mm, Z = 959.199 mm,
W = -0.085 deg, P = -86.669 deg, R = 150.35 deg,
E1= -79.611 deg
};

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How to transfer/copy settings from one robot or device to another?

You can copy optimized settings, which may include

• robot parameters (including exporter parameters and tex-tmodifyers)
• Feasibility mal parameters
• Specific planner parameters
• Program importer parameters (for some robot manufacturers only)
• Associated devices (external axes)

from one robot (or other device) to several robots (or other devices) of your choice. This is especially helpful if you made some optimizations (late in the project) for one workflow or on robot of many in a workflow and want the others to apply the same settings. If it is early in the project, you simply duplicate the workflow which includes the settings.

Select the device (her the FANUC robot) which was optimized and which settings shall be used by all other FANUC robots.

“Copy device specific parameters to”

Image:

You can select the following parameter sets to be copied to other FANUC robots to be defined subsequently:

• Feasibilty Maps parameters:
• Device Specific Planner parameters:
• Program Exporter Parameters, such as Base frame, speed settings, linear or ptp, sampling a.s.o.
• Program importer parameters:
• associated devices, e.g. which external axis are connected

Image:

Final steps:

1. Select the devices parameters to copy / transfer
2. select the robots to copy them to. note: devices should be of same kind. Do not copy the settings of an external axis to a robot.
3. Press the transfer button in the center and the target devices are shown
4. Add mode devices if wanted
5. Press OK

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At start, a short introduction to the GUI of the setup editor is provided as quick-start in the next video.

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more examples how to create a new workflow – with increasing complexity.

Also shown:

• how to insert and split actions (which is actually already an outview to 2.2.2)

• how to change priority of robot and external axes

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