Explanation
The following types of controller data are
migrated from V5 to V6:
- Home Positions
- Travel Limits
- Joint/TCP speed/acceleration
- Controller profiles (Tool,
Motion, Accuracy, Object Frame)
- Inverse kinematics.
V5 and V6 have different controller structures, as noted in
the chart and diagrams below. In general, migrating data
into V6 reduces the number of instance controllers. The most important controller data is preserved.
Controller Structures
The following chart shows what type of data is stored on each
type of controller.
| Controller Data |
On V5 RC |
On V5 IC |
On V6 RC |
On V6 IC |
|
On V5 RC |
On V5 IC |
On V6 RC |
On V6 IC |
| V5 Robots |
|
V5 Devices |
| Home Positions |
Yes |
No |
Yes |
Yes |
|
Yes |
No |
Yes |
No |
| Travel Limits |
Yes |
No |
Yes |
Yes |
|
Yes |
No |
Yes |
No |
| Joint Speed/Accel Limits |
Yes |
No |
Yes |
Yes |
|
Yes |
No |
Yes |
No |
| TCP Speed/Accel Limits |
Yes |
Yes |
Yes |
Yes |
|
No |
No |
No |
No |
| Controller Profiles |
Yes |
Yes |
Yes |
Yes |
|
No |
No |
Yes |
No |
| Inverse Kinematics |
Yes |
No |
Yes |
No |
|
No |
No |
No |
No |
| D5 Robots |
|
D5 Devices |
| Home Positions |
Yes |
Yes |
Yes |
Yes |
|
Yes |
Yes |
Yes |
No |
| Travel Limits |
Yes |
Yes |
Yes |
Yes |
|
Yes |
Yes |
Yes |
No |
| Joint Speed/Accel Limits |
D5 |
No |
Yes |
Yes |
|
D5 |
No |
Yes |
No |
| TCP Speed/Accel Limits |
D5 |
No |
Yes |
Yes |
|
No |
No |
No |
No |
| Controller Profiles |
Yes |
Yes |
Yes |
Yes |
|
No |
No |
Yes |
No |
| Inverse Kinematics |
D5 |
No |
Yes |
No |
|
No |
No |
No |
No |
- Legend
-
Yes: Data is stored o the indicated controller type
-
No: Data is not stored on the indicated controller
type
-
D5: Data is stored in the D5 data file and cannot
be viewed/edited in V5.
-
IC: Instance Controller
-
RC: Reference Controller