Program from the robot: what was changed on the pendant
How to compare the program from the controller, after touch-ups on the pendant, with the generated revision: moved, added and removed points, and a motion check of what the robot really runs.
Operators often touch up points on the pendant. To know what the robot really runs, export the program from the controller and compare it with the revision in Oprela.
How to compare
In the "Seams & programs" tab, next to the revision, click "Compare with the robot". Upload the file or paste the text:- FAIRINO — the .lua file. Points taught on the pendant by name need the controller's point table.
- ABB — the .mod module (robtarget and jointtarget data are in the module itself).
- KUKA — the .src together with its .dat: you can pick both files at once. The .dat holds the points taught on the pendant.
Click "Compare and check".
What the result shows
- how many moves are in the file and in the revision, how many moved and by how many millimetres, how many were added and removed;
- a table of points: seam, move, file line, shift in mm, turn in degrees, whether the move type changed;
- a motion check of the program as it is now — reach, collisions, joint speeds.
If nothing changed, the system says the robot runs exactly the generated path.
Points are compared as sequences: one point inserted on the pendant does not shift the comparison of every point after it.
What is not read completely
The system does not guess; it says plainly what it could not read to the end:- moves inside conditions and loops (IF, WHILE, FOR, TEST, SWITCH…) — whether and how often they run is decided on the controller;
- circles (ARC, MoveC, CIRC) — shown, but not modelled;
- relative moves and program offsets (Offs, RelTool, LIN_REL) — the robot goes beside the written point;
- taught points without values (no point table or .dat);
- unrecognised lines — hover over the note to see them.