RoboDK is software for Simulation and Offline Programming. Offline Programming means that robot programs can be created, simulated and generated offline for a specific robot arm and robot controller. RoboDK can help you with manufacturing operations involving industrial robots.
This document is a basic guide to the RoboDK documentation. The RoboDK documentation is based on the Windows version of RoboDK. Mac, Linux and Android versions are also available.
You should see the RoboDK shortcut on your desktop when RoboDK is installed from our website. Double click the shortcut to start RoboDK.
The RoboDK window contains a Main Menu, a Toolbar, a Status Bar and the Main Screen. The Station Tree in the Main Screen contains all the items available in the station, such as robots, reference frames, tools, programs, etc. More information available in the Interface Section.
Select File➔ Open to load one of the RoboDK station examples provided by default (RDK files). Alternatively, drag & drop a file to the RoboDK main screen to load it.
A library of industrial robots is available online or directly from the RoboDK application.
Throughout all RoboDK documentation, clicks on the screen are represented by the following icons:
It is recommended to use a 3-button mouse to navigate in 3D. Alternatively, you can use a combination of Ctrl, Alt and Shift keys with a simple mouse left click perform Pan, Rotate or Zoom motions:
Hold mid button
Hold right click
Move mouse wheel
Hold Ctrl to select more than
Hold Ctrl + Alt
Hold Ctrl + Shift
Right click on the main screen to see the same 3D navigation commands.
The Getting Started section shows how to build a simple project offline for a robot painting application in RoboDK using a UR10 robot. The example provides a general overview of some of the key features of RoboDK for Simulation and Offline Programming, including:
● How to Load a Robot from the Online Library
● How to Add Reference Frames
● How to Load Objects
● How to Add Tools
● How to Add Targets
● How to Create Programs offline and simulate them
● How to Generate a program for the robot controller and select a post processor
This example is available in the RoboDK library by default as Tutorial-UR-Painting.rdk (located by default in C:/RoboDK/Library/).
The Toolbar contains graphical icons that allow quick access to frequently used actions in the menu.
The following commands are available in the toolbar by default.
Open online library
Add a reference frame
Add a new target
Display the default 3D isometric view
Move reference Frames
Move TCP (robot tool)
Add Python Program
Move Joint Instruction
Move Linear Instruction
The following list provides useful shortcuts and their equivalent buttons in the toolbar:
Move a reference frame
Move a TCP (tool)
Show this help guide
Generate selected program(s)
Show/hide selected item(s)
Fit to selected item(s)
Load last file or RoboDK station
Show/hide text on screen
Make Reference frames bigger
Make Reference frames smaller
Show/hide robot workspace
A Reference Frame defines the location of an item with respect to another item with a given position and orientation. An item can be an object, a robot or another reference frame. All Offline Programming applications require defining a reference frame to locate the object with respect to a robot to update the simulation accordingly.
Drag & drop any reference frame or object within the Station Tree to define a specific relationship, such as the nested reference frame shown in the following image.
It is common to define the location of one or more reference frames with respect to the robot by touching 3 points. This allows placing objects in the virtual space. The procedure can be accomplished using the robot teach pendant or RoboDK (more information available in the Calibrate Reference Frame section).
With RoboDK it is possible to manually enter the translation and rotation values, including different rotation orders of the Euler angles.
By default, RoboDK displays the relationship as the XYZ position and the Euler angles in the X➔Y➔Z format. This means the rotation is made in the following order:
1. First: a rotation is made around the X axis (light blue case)
2. Second: a rotation is made around the static Y axis (pink case)
3. Third: a rotation is made around the static Z axis (yellow case).
Fanuc and Motoman controllers use the previously described format, however, other robot manufacturers handle the rotation order in a different way.
It is possible to select among different orientation formats from the dropdown list of the reference frame details window (double click a reference frame).
For example, Stäubli robots use the X➔Y’➔Z’’ order, or KUKA and Nachi robots use Z➔Y’➔X’’. On the other hand, ABB controllers use Quaternion values, which require 4 values to define the rotation:
It is also possible to manually enter a customized format. For example, the following command is displayed when the Script (Custom Pose) option is selected:
Select Tools➔Options and select Set Default Settings to set the default settings. More information available in the Options Menu Section.
Select Tools➔Language and select English to change the language to English.
Select Tools➔Toolbar Layout➔Set Default Toolbar to set up the default toolbar.
Select Tools➔Options➔Other➔Set default Python Settings to set up the default Python settings. More information in the RoboDK API section.
Having trouble starting RoboDK?
RoboDK might not start when using a Remote Desktop connection or if you are running RoboDK on a virtual PC. To solve this problem, start RoboDK by double clicking the following file:
Starting RoboDK with this command does not require a graphic card as it uses a software emulated OpenGL. This solves any problems when running RoboDK using a Remote Desktop connection or a Virtual connection.