보정된로봇과필터프로그램호출을사용하는로봇프로그램이주어지면 RoboDK를사용하여완전한프로그램을필터링할수있습니다.

robot.FilterProgram(file_program)

FilterProgram이라는매크로예제는라이브러리의매크로섹션에서사용할수있습니다. 다음코드는 RoboDK API를사용하여프로그램을필터링하는예제 Python 스크립트입니다.

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()