Hi msdotnet,
RoboDK will be as accurate as the robot is, we use the same "numbers" (DH param) in the background as the controller does.
If you want to discuss further, you can send me a private message, we could look at your needs directly.
Jeremy
Hi msdotnet,
RoboDK will be as accurate as the robot is, we use the same "numbers" (DH param) in the background as the controller does.
If you want to discuss further, you can send me a private message, we could look at your needs directly.
Jeremy
Thanks.
Great job with the list anyway!
Nice list Massula!
We do support Omron/Adept though.
You should be able to do that with the free version and just a few lines of code using the API.
Look at this section of our documentation:
https://robodk.com/doc/en/Pyth…tml#robolink.Item.SolveIK
You should use this one to get all the results at once:
Should give you what you are looking for.
Jeremy
I'm a bit late to the party.
Thanks for all the answers.
Quick note, as you use a Fanuc robot, it almost certainly uses coupling between axis 2 and axis 3.
It is possible to define the robot workspace when it comes to the robot axis coupling. We don't do it by default because it is not something manufacturers properly state in their datasheet so it needs to be found experimentally using the real robot or the manufacturer's simulator software.
If you have the 4 points that represent the workspace of the coupling between j2 and j3 (usually a trapezoid), you can enter it following these steps:
More information here:
https://robodk.com/blog/robot-axis-coupling/
Jeremy
1 - You can add Digital Output activation with the "SetIO" instruction.
2 - For external axis: https://robodk.com/doc/en/General.html#SyncAxes
HI Fatih,
I'm not familiar at all with how Kawasaki manages FTP upload or if it even exists.
That's the method we use for the robot brands we can upload to directly.
kwakisaki Do you know if there's an "upload program via FTP" option on the Kawasaki controller?
Jeremy
I think everyone has access.
If you download the latest version of RoboDK, you will have access to "If" and "While" statements.
I attached an example RDK station.
We tested it internally, but feel free to report any issue you could find.
We did not announce that feature publically.
So that you guys know, we are currently working on a way to add "While" loop and "If" statement directly in the UI.
I'm currently testing it out and it's very promising.
Jeremy
Hi kwakisaki,
We were contacted by Patryk to see if we could develop a live communication between RoboDK and Kawasaki robots the same way he did for his software.
We took a look at it and it should be easy enough.
But I want to quickly talk to you regarding the usage of the library you provided in a commercial context.
Do you know if we are allowed to?
I don't seem to be able to send you a PM, so feel free to contact me if you want to discuss that privately or if you know whom we should ask.
Jeremy
Hi MOM,
I do agree that having points too close to one another or having arcs with very small radius is an issue for the robot controllers, but as I answered at the end of the thread, I did help that same customer on our forum and his issue was gone with our filtering pre post-processing.
You can decide to have maximum or minimum step size in mm or deg.
The same goes for arc circles, where you can enter a minimum and maximum step size in mm or deg.
SkyeFire, agree with all you said. The issue with the circular motion was fixed by adjusting one setting in RoboDK.
Regarding memory, this is a real issue that most ppl using certain brands will face in CNC-like applications. (Fanuc, just to name this one) But fortunately, we found ways to avoid this problem.
To keep it short, we split the program into smaller pieces, have a main that calls all the sub, but we only send 2-3 pieces at first. Then we replace the pieces of code as they are executed. An external script takes care of that automatically for you.
Spline block has a minimum recommended distance between points, last time I checked KUKA's doc, I think they said +0.5 mm.
But all of that filtering in RoboDK is just a patch, the real solution should come from the CAM system. Linear tolerances can generally be adjusted so that it only creates points where it's required.
Jeremy
Hi javaman ,
There isn't any feature specific for wire cutting in RoboDK.
Some of our customers did create such applications using our very open python/C++/C# API, but that requires a bit more work.
Jeremy
Hi MOM ,
We don't do that kind of data reduction, you are right, but I wonder why you would want to do that?
There's one major reason why we don't do data reduction and it's our Calibration and Accuracy package.
Having more points let's us better filter the program in a more accurate way to account for robot error (mainly kinematic discrepancy).
But I'm still very interested to hear your reasons behind data reduction.
Jeremy
Hi MOM ,
I would like to clarify what we do with respect to "DATA REDUCTION", but I'm not 100% sure what you mean by that.
CAM systems have the tendency to create a path with overkill point density for a robot, preventing the tool from performing the path smoothly and with a constant speed. So we do clean things up during the post-processing phase if that's what you mean. You can enter a minimum step size in mm or in deg for an arc and RoboDK will filter your program accordingly.
But if you mean otherwise, let me know.
Jeremy
Hi Asylum,
I think I helped you somewhere else, either via email or on our own forum, pointing you towards those settings.
For those interested, you can change the minimum step size in mm and deg and the minimum arc size in mm or deg by following these steps:
"Tools"->"Options"->"Program".
In this case, the root of the problem comes from Alphacam. You should be able to find some settings that would prevent Alphacam from generating g-code with points or arc that are too small.
The solution used here is more of a patch RoboDK applies to the program before generating it, the real solution would be to prevent Alphacam from sending that kind of information.
Jeremy
Hi Motrobot,
I'm not sure it can help you in this specific situation, but RoboDK can filter the output points so that they aren't too close to one another.
"Tools"->"Options"->"Program"->"Minimum step size (mm)"
That might not be the best solution in your case thought.
Jeremy
massula If someone needs a post-processor for the Hyundai robot, we can work on it.
We don't have one right now because no one asked for one.
Hi Asylum,
Let me know next time you face this issue. I'll take a look.
Jeremy