Il est possible de filtrer un programme complet en utilisant RoboDK, avec un robot calibré et le programme de robot, en utilisant l’option FilterProgram:

robot.FilterProgram(file_program)

Un exemple de macro appelé Filterprogram est disponible dans la section Macros de la bibliothèque. Le code suivant est un exemple de script Python qui utilise l’API RoboDK pour filtrer un programme.

from robolink import * # API to communicate with RoboDK

from robodk import * # basic matrix operations

import os # Path operations

# Get the current working directory

CWD = os.path.dirname(os.path.realpath(__file__))

# Start RoboDK if it is not running and link to the API

RDK = Robolink()

# optional: provide the following arguments to run behind the scenes

#RDK = Robolink(args='/NOSPLASH /NOSHOW /HIDDEN')

# Get the calibrated station (.rdk file) or robot file (.robot):

# Tip: after calibration, right click a robot and select "Save as .robot"

calibration_file = CWD + '/KUKA-KR6.rdk'

# Get the program file:

file_program = CWD + '/Prog1.src'

# Load the RDK file or the robot file:

calib_item = RDK.AddFile(calibration_file)

if not calib_item.Valid():

raise Exception("Something went wrong loading " + calibration_file)

# Retrieve the robot (no popup if there is only one robot):

robot = RDK.ItemUserPick('Select a robot to filter', ITEM_TYPE_ROBOT)

if not robot.Valid():

raise Exception("Robot not selected or not available")

# Activate accuracy

robot.setAccuracyActive(1)

# Filter program: this will automatically save a program copy

# with a renamed file depending on the robot brand

status, summary = robot.FilterProgram(file_program)

if status == 0:

print("Program filtering succeeded")

print(summary)

calib_item.Delete()

RDK.CloseRoboDK()

else:

print("Program filtering failed! Error code: %i" % status)

print(summary)

RDK.ShowRoboDK()

Filtrer les programmes avec l’API