Overview of the Migration of Device Controllers

This section describes how device controllers are migrated from V5 to V6.

V6 devices have only a single reference controller and no instance controllers. During import of a device from V5, the highest-level instance controller is migrated onto the V6 reference controller. Data on other instance controllers and the reference controller is not migrated. The exception to this are V5 devices (devices whose mechanism is defined in V5), which do not store any information on V5 instance controllers. They migrate data from the V5 reference controller to V6 reference controller. If multiple instances of the reference device exist in V5, multiple V5 instance controllers try to write to the same V6 reference controller. Only the data from the last instance controller to be processed is used in V6. You cannot control the order of instance controller processing.

This page discusses:

Creation of a Device Instance Controller in V5

Instance controllers are created in the following manner in V5:



Migration of V5 Device Controller data to V6



Travel Limits
If travel limits have not explicitly been defined for a robot in V5, the V5 Travel Limits command displays default values that may be drawn from the joint commands or other sources. The V6 Travel Limits command uses different logic to find these default values. As a consequence, an imported V5 robot that does not have defined travel limit values may display different values in that command between V5 and V6.