Once you have the simulation ready in RoboDK you can easily generate the robot program so you can execute the program on the robot controller without having to write a single line of code.

You can export any program individually or the main program including the subprograms:

1.Right click a program (MainProg for example).

2.Select Generate robot program (F6).
Alternatively, select Generate robot program… to specify the location to save the file.

3.The SCRIPT program for UR robot will be displayed in a text editor.

The file you obtain is the result of generating the program offline. The file can be sent to the robot controller to run the same movements that were simulated in RoboDK.

Note: If you are using a UR robot you can change the post processor to generate URP files readable by the robot controller. Visit the following sections for more information about the difference between SCRIPT and URP programs: How to generate and modify a URP program for a Universal Robots controller and Start a SCRIPT program with a Universal Robots controller.

Tip: If we are properly connected to the robot we can also select one of the following options in the same menu:

● Select Send program to robot (Ctrl+F6) to send the program through FTP (Offline Programming)

● Check the option Run on Robot to run the program step by step each time we run the program (Online Programming). This allows executing the program on the robot as it is simulated at the same time. Robot drivers are required for Online Programming.

Note: The Run on Robot option requires robot drivers to work properly. These drivers may require additional software options on the robot controller and/or a specific setup on the robot controller (this is not the case for UR robots).

Getting Started - Image 53

Tip: Offline Programming with RoboDK involves using a post processor that defines the syntax used to generate each program. RoboDK provides many post processors to support several robot controllers and different manufacturing applications. More than one post processors might be available for a specific robot controller.

It is possible to change the post processor for UR robots and customize the way a program is generated:

1.Right click a program or a robot.

2.Select Getting Started - Image 54 Select Post Processor.

3.Select Universal Robots URP.

Note: All the Post Processors that have a black icon can be modified by selecting Program➔Add/Edit Post Processor.

Generate the program again. In this example, the default post processor uses joint values to define each linear move and the second post processor uses cartesian coordinates to define each linear move.

Note: More information is available in the Post Processors section.