The comparison shows what was changed on the robot against the offline version of the programs (offline programming, simulation study): which points were touched up or moved, where the robot reaches the same position with other axes (other configuration Status/Turn, CONFIG, cf, RCONF), which points are new or removed and where the speed, the approximation, the motion type, TOOL / BASE or the commands after a point were changed. Text differences without meaning (spaces, line numbers, the order of the data lists) are not shown - the points are compared by their values. The comparison only reports; the programs are not changed.

Where:

• menu VKRC, KRC or VFanuc » More » Compare with the offline version... (next to Compare ... programs) - the active program of the manufacturer is taken as the version from the robot;
• window of the plugin Archive Diff (VKRC, KRC, VFanuc) » button Compare with the offline version... - archive A as the offline version, archive B as the version from the robot (folders; a ZIP archive has to be unpacked first);
• project tree, context menu of a robot » Compare <robot> with the offline version... - the archive of the robot is the version from the robot, the offline version is chosen in the window;
• command API: compare_offline (see below and VeRa / command API).

Robots: VKRC, KRC and Fanuc (ABB and Yaskawa are not available yet - their programs are skipped with a note). License: the license of the Archive Diff plugin of the robot type - VKRC: VKRC Archive Diff, KRC: the KRC license (KRC Archive Diff), Fanuc: VFanuc Archive Diff; programs of a robot type without its license are skipped with a note.

Sources

• Offline version (A) and From the robot (B) - a robot archive, a folder with programs or one program each. Programs are matched by the path in the archive, else by the file name; points by the name of the point in the program (not by the line; the same point used again = next occurrence).
• File masks - e.g. up*.src; folge*.src; empty = the robot programs with motions. System files are skipped unless include system files is checked. Fanuc programs in a language folder of the backup (german\ ...) are skipped with a note - they are compared from the main or english\ folder.

What is compared

• Position and orientation of the target point in the TOOL / BASE frame of its motion (axis points: forward kinematics) - position in mm, orientation as the rotation angle between the two orientations.
• Axes after the kinematics (cartesian points: inverse kinematics with the configuration of the point). The same position within the tolerances with an axis changed = configuration (Status/Turn). Without the robot kinematics or with an unsupported mounting a note is shown and only the cartesian values are compared; points without position data (position register PR[], point not taught) are counted as not compared with a note per program - never as unchanged.
• speed, approximation, motion type, TOOL / BASE of the motion line and the commands after the point up to the next motion (technology, waiting, signals) - each can be switched off.

Default tolerances: position 1 mm, orientation 0.5°, axes 0.5°; a point that changed by 20 mm or more counts as moved, below as touched up. All values can be changed in the window and in the API. Fanuc: a change of UF / UT stored only in the position data is not detected as a TOOL / BASE change.

Result

Groups: touched up, moved, configuration (Status/Turn), axes, new point, removed point, motion type, speed / approximation, TOOL / BASE, commands / technology, program only on the robot, program only offline, note. The table can be sorted by every column and filtered by the group (Show); a double click in the column Line A opens the offline program at the point, in the other columns the program from the robot. Save report... saves PDF, HTML, XLSX or CSV; the report file can also be set before the comparison.

Command API

{"cmd":"compare_offline", "a":"D:/olp/R01", "b":"D:/backup/R01", "masks":["up*.src"], "includeSystem":false,
 "vendor":"VKRC", "pos":1.0, "ori":0.5, "axes":0.5, "moved":20, "speed":true, "commands":true, "frames":true,
 "format":"pdf", "save":"D:/reports/R01_offline.pdf", "maxItems":500, "dialog":false, "run":false}

• a - offline version, b - version from the robot (archive, folder or program);
• "dialog":true - opens the window with these values ("run":true - and compares);
• answer: common findings format (summary, findings with check = compare_offline, code = TOUCHED_UP, MOVED, CONFIG_CHANGED, AXES_CHANGED, POINT_NEW, POINT_REMOVED, MOTION_CHANGED, SPEED_CHANGED, FRAME_CHANGED, COMMANDS_CHANGED, PROGRAM_NEW, PROGRAM_REMOVED, NOTE), groups (count per code), programsOffline, programsRobot, programsCompared, pointsCompared, pointsUnchanged, pointsNotCompared, tolerances, summaryText, notes, saved;
• vendor: VKRC, KRC or Fanuc (ABB / Yaskawa: error "not available ... yet"); without the Archive Diff license of the robot type the answer is an error with the name of the license;
• progress: lines compare_offline A / B ... in dres.log; the API command status has the field progress.

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