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The download includes some example stations. You can take a look at our example projects.
What's new in the latest version of RoboDK?
The online library of more than 300 robots, tools and external axis can be accessed directly from the application. You can also look for your robots in the RoboDK library page.
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RoboDK works on Windows, Mac, Linux and even Android devices!
Windows 64 bit | RoboDK 3.2 | Download | |
Windows 32 bit | RoboDK 3.2 | Download | |
Windows XP | RoboDK 3.2 | Download | |
Mac 64 bit | RoboDK 3.1 | Download | |
Mac 32 bit | RoboDK 3.1 | Download | |
Ubuntu 64 bit | RoboDK 3.2 | Download | |
Ubuntu 32 bit | RoboDK 3.2 | Download | |
Android | RoboDK 3.2 | Download |
Importing STEP and IGES files is only supported on Windows (excluding XP). By using RoboDK you must agree to our EULA. To uninstall RoboDK you must select "Uninstall RoboDK" from your start menu on Windows. No uninstall is required for other platforms.
End User License Agreement
This End-User License Agreement ("EULA") is a legal agreement between you (either an individual or a single entity) and RoboDK Inc. for RoboDK later referred to as "the Software". The Software under the Trial Version License can be either a fully functional time-limited version or a feature-limited version, or a combination of these two types. Detailed description of the Trial Version restrictions is available on RoboDK Inc. web site and in each product's user-guide. The Software under this License is provided free of charge as long as it is a TRIAL VERSION. "Trial Version" means a version of the Software to be used only to review, demonstrate and evaluate the Software for an unlimited time period. The Trial Version may have limited features and may lack the ability for the end-user to save the end product.
All RoboDK Inc. products are shareware. It means that You can download the Trial Version for evaluation and, if You like the product, order the license. I.e. You can try before You buy. The functional peculiarities present in the Trial Version may not be a reason for refund request of a purchased license. If a Trial Version is a time-limited fully-functional version, allowing You to see and test all the features, your refund request will be declined if based on the absence of some certain feature or if some feature doesn't work as You expected it to work. All other refund cases are regulated by RoboDK Inc. Refund Policy. Even though a license fee is not paid for the use of Trial Version software, it does not mean that there are no conditions for using such software. This Software is copyrighted and the owner of the copyright claims all exclusive rights to such software. By installing, copying, or otherwise using the Software You agree to be bound by the terms of this EULA. If You do not agree to the terms of this EULA, do not install or use the Software.
The Software is licensed, not sold. A license is the right to use the software program within the limitations of this EULA and the printed license document provided upon purchasing the license. Different license types and limitations are listed below. Limitations may vary over time.
(1) Free, Trial or Evaluation License – The trial version of this program may be loaded on computers for evaluation purposes within the defined trial period. The trial program may be used on any computer required for your evaluation. The trial version of this program may be distributed to others for evaluation purposes. No fee may be charged for distribution of the trial version of this program. The trial program must not be modified in any way. Continued use of this program beyond the trial period requires the purchase of a license.
(2) Educational license – The educational license may have unlimited features but should always be used for educational purposes and should not be used for production.
(3) Professional license – The professional license may have some or all features unlocked. This is the appropriate license to use in a production environment.
1. DEFINITIONS
When used in this Agreement, the following terms shall have the respective meanings indicated, such meanings to be applicable to both the singular and plural forms of the terms defined: "Licensor" means RoboDK Inc.. "Licensee" means You or Your Company, unless otherwise indicated. "Software" means (a) all of the contents of the files, disk(s), CD-ROM(s) or other media with which this Agreement is provided, including but not limited to ((i) registration information, i.e. License key which is unique for a registration name of the Licensee; (ii) related explanatory written materials or files ("Documentation"); and (iii) Software setup files and code samples (if any); and (b) upgrades, modified versions, updates, additions, and copies of the Software, if any, licensed to you by RoboDK Inc. (collectively, "Updates"). "Use" or "using" means to access, install, download, copy or otherwise benefit from using the functionality of the Software in accordance with the Documentation. "System" means Windows OS, GNU/Linux or Mac OS X, or any virtual machine.
2. GENERAL USE
As long as the Licensee complies with the terms of this End User License Agreement (the "Agreement"), the Licensor grants the Licensee a non-exclusive right to use the Software under the following conditions:
The Software may be installed and used by the Licensee for the sole purpose of determining whether to purchase a license for a commercial version of the Software.
The Software may be installed and used by the Licensee on one computer per license.
The Software can be copied and distributed on condition that the original copyright notice and disclaimer of warranty stay intact and the Licensee does not charge money or fees for the Software product.
The Licensee's distribution of Trial Version of the Software will not entitle him/her to any compensation from the Licensor.
The Licensee may not rent, lease, or lend the Software to anyone.
The Licensee may permanently transfer all of his/her rights under this EULA, provided the recipient agrees to the terms of this EULA.
Without prejudice to any other rights, the Licensor may terminate this EULA if the Licensee fails to comply with the terms and conditions of this EULA. In such event, the Licensee must destroy all copies of the Software.
Some features of the Software may have expiration date. Some versions of the Software may require a permanent connection to our server through internet to track the average use, fix bugs and improve the product in further releases.
3. INTELLECTUAL PROPERTY RIGHTS
3.1 This License does not transmit any intellectual rights on the Software. The Software and any copies that the Licensee is authorized by the Licensor to make are the intellectual property of and are owned by the Licensor.
3.2 The Software is protected by copyright, including without limitation by Copyright Law and international treaty provisions.
3.3 Any copies that the Licensee is permitted to make pursuant to this Agreement must contain the same copyright and other proprietary notices that appear on or in the Software.
3.4 The structure, organization and code of the Software are the valuable trade secrets and confidential information of the Licensor. The Licensee agrees not to decompile, disassemble or otherwise attempt to discover the source code of the Software.
3.5 Any attempts to reverse-engineer, copy, clone, modify or alter in any way the installer program without the Licensor's specific approval are strictly prohibited. The Licensee is not authorized to use any plug-in or enhancement that permits to save modifications to a file with software licensed and distributed by the Licensor.
3.6 Any information supplied by the Licensor or obtained by the Licensee, as permitted hereunder, may only be used by the Licensee for the purpose described herein and may not be disclosed to any third party or used to create any software which is substantially similar to the expression of the Software.
3.7 Trademarks shall be used in accordance with accepted trademark practice, including identification of trademarks owners' names. Trademarks can only be used to identify printed output produced by the Software and such use of any trademark does not give the Licensee any rights of ownership in that trademark.
3.8 The Licensor has been using third party software such as Qt, OpenCascade, FreeType and Python.
3.8.1 The Qt 5.3 code remains under the LGPL 2.1 license (attached copy).
3.8.2 The Open CASCADE 6.7 code remains under the LGPL 2.1 license.
3.8.3 The Python project is distributed with its original license with added tools to interface with RoboDK.
4. WARRANTY
4.1 The Licensor warrants that:
4.1.1 RoboDK Inc. owns the Software and documentation and/or is in possession of valid and existing licenses that support the terms of this Agreement;
4.1.2 to the best of the Licensor's knowledge, the Software does not infringe upon or violate any intellectual property right of any third party;
4.1.3 the Software does not contain any back door, time bomb, drop dead device or other routine intentionally designed by the Licensor to disable a computer program, or computer instructions that alter, destroy or inhibit the processing environment.
4.2 Except those warranties specified in section 4.1 above, the Software is being delivered to the Licensee "AS IS" and the Licensor makes no warranty as to its use or performance. The Licensor does not and cannot warrant the performance or results the Licensee may obtain by using the Software. The entire risk arising out of use or performance of the Software remains with the Licensee. The Licensor gives no warranty, express or implied, that (i) the Software will be of satisfactory quality, suitable for any particular purpose or for any particular use under specified conditions, notwithstanding that such purpose, use, or conditions may be known to the Licensor; or (ii) that the Software will operate error free or without interruption or that any errors will be corrected.
5. LIMITATION OF LIABILITY
In no event will the Licensor be liable for any damages, claims or costs whatsoever or any consequential, indirect, incidental damages, or any lost profits or lost savings, even if the Licensor has been advised of the possibility of such loss, damages, claims or costs or for any claim by any third party. In no event will the Licensee be liable to the Licensor on condition that the Licensee complies with all terms and conditions stated in this License.
6. NON-WAIVER
If a portion of this Agreement is held unenforceable, the remainder shall be valid. It means that if one section of the Agreement is not lawful, the rest of the Agreement is still in force. A party's failure to exercise any right under this Agreement will not constitute a waiver of (a) any other terms or conditions of this Agreement, or (b) a right at any time thereafter to require exact and strict compliance with the terms of this Agreement.
© 2014 RoboDK Inc.. All rights reserved.
What's new in the latest version of RoboDK
New in RoboDK v3.2.5 (2017-08-17)
- Fixed ABB Post processors
- Added gray32 option
- Comau calibration is properly supported
New in RoboDK v3.2.5 (2017-08-15)
- Updated Comau driver
- Run on robot option does not start the program
- Run on robot option shows connected Icon
- Improved C# API
- Transparency issue fixed for 3D HTML/WebGL simulations
New in RoboDK v3.2.4 (2017-08-10)
- Right clicking on multiple programs allows creating a main program automatically
- Single right click allows to rotate the 3D view
- rdklic file format supported to set up licenses automatically
- Added URI scheme to trigger RoboDK from the website
- Imported points or curves have a default normal if no projection is detected
- Improved point picking
- Improved documentation by selecting F1
New in RoboDK v3.2.4 (2017-08-04)
- Added support for input/outputs using APT source milling program
- Updated KUKA post processor
- Updated Staubli S6 post processor
- Improved online documentation
- Online documentation is linked by sections from RoboDK
- Double clicking an instruction call properly runs that procedure
- Targets can be selected and then hidden (right click a movement instruction, then, Hide target object)
- Multiple movement instructions can be selected to select their targets and then hide them
- Editing a Python macro does not request saving a RDK station if it has not been saved yet (by default)
- Editing a Python macro saves the original station (not the station currently open)
- Python 2 and Python 3 API modules have been merged in one module
- Fixed filtering issue
- Fixed CloseRoboDK API bug
- Improved auto naming instructions for Pause and Wait Digital Input
- Add program update option to retrieve cycle time through the API
New in RoboDK v3.2.3 (2017-07-28)
- Improved default milling settings
- Installer remembers the last location of the installed path
- Improved context menu for milling projects
- Fixed Siemens Sinumerik post processor issues
- Fixed issues with unlimited range for joint 6
- Program-Add/Edit post processor preselects the post of the first robot found in the RDK station
- Improved multithreaded API stability by using direct socket connections
- Fixed crash issue for start point when using milling projects
New in RoboDK v3.2.2 (2017-07-21)
- Improved pose script with a more simplified representation
- Improved group options for milling programs
- Added Staubli S6 post processor
- Camera simulation can simulate depth measurement as a grayscale
New in RoboDK v3.2.2 (2017-07-18)
- Improved UR script program import
- Added option to attach a group of milling projects to a specific reference frame
- Fast ratio simulations show render 4 times/second even if computer power is not fast enough
New in RoboDK v3.2.2 (2017-07-13)
- Improved kinematics if joint 1 limits are outside +-180 deg
- Added API option to extract selected points on objects
- Fixed robot calibration for Siemens robot controllers
- Improved command line options
New in RoboDK v3.2.1 (2017-07-05)
- Fixed changing joint limits when axes are synchronized
- Fixed command line issues
New in RoboDK v3.2.0 (2017-06-29)
- Added Ballbar test for 50 mm
- 2D camera snapshot renders properly even if best performance is checked
- Controller render throught the API does not black out the main screen
- Improved Mecademic post processor and driver
- Fixed command line issues
- Improved translation (English and French)
- Added 3D printing particle simulation compatibility (particles are not projected)
- Fixed command line options
- Fixed transparency issue with particles
- Improved UR post processor
- Items in the tree are kept collapsed on save, close & loading station
- Fixed G20/G21 issue with Gcode
New in RoboDK v3.2.0 (2017-06-21)
- Fixed bug on curve delete
- CAM projects maintain the success/failed status when they are saved and loaded
- Fixed link to online library from the APP (no redirect)
- Added Mitsubishi driver (experimental)
- Improved Siemens Sinumerik post processor
New in RoboDK v3.2.0 (2017-06-19)
- Improved French translation
- Improved English translation
- RAPID speed can be specified for each CAM project
- Arranged default CAM parameters in the main menu
- CAM project with override existing programs with the same name by default
- Fixed on path start bugs for curve follow projects
- Added on path finish program call event for curve follow projects
- Better version control on the installer binary
- Check for updates in RoboDK now suggests updates for any minor updates
- Fixed issue updating milling programs from the API (all programs would automatically stop)
New in RoboDK v3.1.7 (2017-06-14)
- Fixed driver disconnect issue. Now the disconnect is forced on double click.
- Fixed crash when setting up a milling project from the API
- Added toolbar menu settings
- Added operation speed for curve/point follow projects
- Adding targets keeps them selected until a move instruction is added
New in RoboDK v3.1.7 (2017-06-12)
- Fixed crash caused by selecting F3 on smoothing instruction
- Updated Comau post processor
- Updated Dobot post processor
New in RoboDK v3.1.7 (2017-06-09)
- Improved driver MOVL cartesian coordinates
- Improved settcp when using the driver
- Added Mecademic driver
- Updated Comau post processor
- Added option to set locale (comma vs point)
- Improved F3 shortcut for instructions
- Improved 3D printing options (Ubuntu)
- It is now possible to group undo/redo actions
New in RoboDK v3.1.7 (2017-06-05)
- Fixed unicode issue for objects and robots
- Fixed unicode support using the API
- Added proxy settings
- Tree window background is white when shown as a side window
New in RoboDK v3.1.7 (2017-06-02)
- Fixed robot calibration for UR
- Fixed robot calibration bugs for base and tool setup
- Changed robot configuration checks by flags
- Fixed Kawasaki post processor issues
New in RoboDK v3.1.6 (2017-05-25)
- Added point pick sensitivity setting
- Fixed point follow bug
New in RoboDK v3.1.6 (2017-05-23)
- Improved robot drivers
- Fixed Cam2D_Snapshot issue on some graphic cards
- Added 3D stereo vision compatibility
- Fixed bug with machining projects when the TCP was changed
- Fixed web library issues
- Added support for Hexapod/Stewart platform
- Fixed Codian update
New in RoboDK v3.1.5 (2017-05-15)
- Improved support for Space Mouse, avoiding wheel event
- 3D stereo vision supported (3D monitor and Quad Stereo support required)
- Import Fanuc LS supported
- 2D Camera simulation allows setting up a customized light
New in RoboDK v3.1.5 (2017-05-08)
- Added support for Space Mouse
- Added near/far plane settings
- Fixed delta coupling for inverse kinematics
New in RoboDK v3.1.4 (2017-04-21)
- Changed transparency selection threshold to 0.5
- Added Siemens Sinumerik post processor
- Fixed workspace menu option for certain robots
- Fixed merge objects issue
- Fixed synchronization with other robots issue
New in RoboDK v3.1.4 (2017-04-19)
- Improved ballbar test for any mechanism
- Fixed merge objects issue
- Added HIWIN post processor
- Fixed ABB post processor circular issue
New in RoboDK v3.1.4 (2017-04-18)
- Transparency is rendered later
- Transparent objects are not selectable (better for teach targets on surface option)
- Added 5bar 2DOF mechanism like Codian D2
- Improved Linking parameters for 5 axis delta robots
- Fixed pick and place examples
- added RoboDK-Virtual.bat to start RoboDK with problematic graphic drivers
New in RoboDK v3.1.3 (2017-04-07)
- Improved debug/default options
- Fixed ProgramStart API issues
- Improved Python macro samples
New in RoboDK v3.1.3 (2017-04-05)
- Improved gun simulation features
New in RoboDK v3.1.3 (2017-04-04)
- Improved TCP calibration allowing to remove points
- Improved joint limit settings
- Improved languages
- Improved teach targets on surface
New in RoboDK v3.1.3 (2017-04-03)
- Allowed to rename items using right click
- Tool hide/show managed automatically for milling projects
- Improved command line options
- Fixed display of estimated toolpath for milling projects
- Better visual feedback for milling projects
- Robot library download progress available
- Improved G-code import to support 3 digit G commands
- Improved self extracting demo station
- Fixed issue with spray simulation
New in RoboDK v3.1.2 (2017-03-22)
- Improved zoom and allowed to invert
- Fixed reference frame issue when using turntables
New in RoboDK v3.1.1 (2017-03-14)
- Rectangle spray gun simulation allowed
- Robot calibration issues fixed
- Robot calibration shows error preview
- Added better debug options
- Improved KUKA posts
New in RoboDK v3.1.0 (2017-03-09)
- Improved feature: Targets on Surface
- UR API distributed for Linux
- Robot connection form show/hide fixed
New in RoboDK v3.0.8 (2017-03-03)
- Scintilla text editor is integrated by default with RoboDK install
- Mouse wheel does not zoom if we hold the button down
- Robot panel with external axes shows the options to modify these axes
- KUKA KRC2 and KRC4 DAT post processors updated
- Added command line options
New in RoboDK v3.0.7 (2017-03-01)
- Fixed SetDO issue with drivers
- Improved Gcode import support
- Added G28 move to home option
- Added ISO cube plane selection option
- Added pulses option on post processors
New in RoboDK v3.0.7 (2017-02-24)
- Fixed issue generating Python programs
- Improved robot and laser tracker drivers
- Improved SRC/DAT KUKA programs import/export
New in RoboDK v3.0.6 (2017-02-16)
- Windows registry is not used to store recent files anymore
- Fixed startup crash issue
New in RoboDK v3.0.5 (2017-02-15)
- Fixed vero license issues
- Double click on RDK file opens on existing instance of RoboDK
- Fixed KUKA circular movement from driver
- Added stereocamera measurement through the API
- Improved milling operation speeds
- Added delete right click button for python programs
- Calibration project better sets up the tool measurements (such as Comau)
New in RoboDK v3.0.4 (2017-02-06)
- Verosofware licensing option added
- Fixed Kawasaki robot tool flange
New in RoboDK v3.0.4 (2017-02-03)
- Fixed codec issue when generating programs
- Fixed apibnr driver
- Improved command line options
New in RoboDK v3.0.4 (2017-01-25)
- Copy values from xyz txyz window uses full decimals
- Added support for B&R Automation controller driver
- Program generation: Added support for different codecs
- Fixed simulation slider issue
- Improved HTML simulation generation: reduced output size and better support for Internet Explorer browser
New in RoboDK v3.0.3 (2017-01-20)
- Post processor encoding issues fixed
- Fixed KUKA post processor to automatically handle turntables
- Fixed STL import crash if Binary STL is not properly defined
- Fixed all KUKA driver issues
- Fixed drag&drop file issue from Network location
- Fixed issue when referencing TCPs with respect to other TCPs
- When loading an existing milling toolpath it asks the user to update the existing milling project
New in RoboDK v3.0.2 (2017-01-16)
- Improved robot driver events
- MoveJ allowed for programs
- Rearanged left click menus for robots and tools
- Improved TCP and reference frame calibration
- Added turntable calibration option
- Axis identification now uses more than 3 points
- Robot calibration remarkably improved to support axis calibration (with iterations)
- UR post processor remarkably improved (fixed pose issue)
- KUKA KR2 post processor improved to support multiple programs
- KUKA SRC import now supports DAT files
- Fixed external axes issue for milling (issue with smooth movements)
- Fixed external axes issue with wrist singularity
- Better error message provided when a movement is not feasible
- Fixed external axes issues when working close to robot limits (one mm/degree used as numerical tolerance)
New in RoboDK v3.0.1 (2016-12-30)
- RJ option added for Motoman Inform III output (built-in post processor)
- View shortcuts added
- Fixed milling project infinite loop event bug
New in RoboDK v3.0.0 (2016-12-22)
- Using Qt 5.7 library wich includes better compatibility with Windows
- Fixed issue with non ASCII characters in the path when loading a STEP or IGES file
- Point is used as decimal for all countries
- Installer remembers last install and does not override Python installation by default
- Fixed issue with circular moves for ABB
- Fixed comau joint moves
- Fixed issue uploading multiple files through FTP
- Improved Euler angles accuracy issue for specific cases
- Added setSpeedJoints and setAccelerationJoints API calls
- Added tangency auto select for curve follow projects
- Fixed issue when calling subprograms between movements
- Improved command line arguments
- Fit to selection option added
- Accurate pricing for calibration and ballbar testing options
- Fixed blocking run on robot connection not working
New in RoboDK v2.7.1(2016-11-25)
- Zoom in and zoom out improved when using the wheel (more accurate when closer)
- Fixed UR driver issue with setPoseTool
- Added X,Y,Z letters to the reference frames
New in RoboDK v2.7.0 (2016-11-14)
- Fixed RoboDK Viewer (removed connection and HTML export)
- RoboDK Viewer does not alter the API
- Fixed KUKA DAT post processor
- Post processor issue fixed for non-english characters
- Memory usage remarkably improved when not using collision detection
- Fixed procedure call issue
New in RoboDK v2.6.8 (2016-11-7)
- Improved Mac and Linux version and better installer for Linux
- Multiple objects can be merged
- Milling/curve following can be fully set up by API
- API update: Mat can be saved and loaded from text/csv files
- Added a Python example to validate distance errors after robot calibration
- Multiple program calls can be generated in one shot
New in RoboDK v2.6.7 (2016-10-31)
- Improved ballbar test issues (line width, branding, reference frame alignment)
- Improved MoveC compatibility for ABB IRC5 post processor
- Fixed issue with UR post processor and movec
- Fixed issue with UR driver and movec
- Added KUKA DAT program compatibility
- Return on global parameters does not set default parameters
- Improved post processor FTP transfer using 'Send program to Robot'
- Jog along axes: fixed issue when moving with respect to a reference frame
- added Color and setColor API methods
New in RoboDK v2.6.6 (2016-10-20)
- Fixed Faro laser tracker driver (currently not working for Windows 10)
- Fixed run program issue when no robot was selected
- Call program instruction allows input of many lines (one program call per line)
- Improved French translation
- Improved FilterTarget
- Improved SolveIK to support specifying preferred joints
- added API GeometryPose
New in RoboDK v2.6.5 (2016-10-11)
- Change tool accepted for APT files
- Tree hierarchy uses new logos (white)
- Added option to display simplified robot panel menu
- Fixed issue with xyzwpr form input
- Included support for Leica laser trackers and API laser trackers
- Improved Mecademic post processor
- Split curve option improved
- Updating Milling project stops all programs (faster and removes bugs)
- ALT+Shift on targets projects the target on the surface
- Delete all curves allowed for objects
- Using Qt 5.4 libraries
- Display moving target
- Multiple movement instructions can be translated and rotated along X, Y and Z axis
- Improved milling option menu with polar coordinates for preferred orientation
- Fixed timeout issue with Wait DI
- 'Start from here' allowed for move instructions
- Improved support for STL load/save of large files (up to 1.5 GB)
- Added filter target
- Fixed issue when dongle license is used for the first time
New in RoboDK v2.6.4 (2016-09-28)
- Teach target from program inline problem fixed
- Fixed issule loading program files and txt files
- Added option to go full screen without toolbar
- Deleting a robot also deletes the reference frame if there are no dependencies left
- Codecs properly set for program generation (internationalisation)
- Added compatibility for ABC Gcode input
- Improved robot calibration feature: the user is allowed to pick the desired parameters
- Added tolerance for welding projects using approach/retract for each curve
New in RoboDK v2.6.3 (2016-09-16)
- Fixed 2D camera sample simulation with UR robots
- Fixed program generation issue from API
New in RoboDK v2.6.2 (2016-09-15)
- Robot feedback is properly displayed on the screen when the real robot is moving (compatible robots only)
- Improved set speed instruction when connected to the robot
- Fixed problem with KUKA posts regarding the rounding parameters
- On open/close station, there is no message to save the station
- KUKA driver updated
- Fixed issue with Pick and place sample using Python
- By default, TXT files are loaded as point list and CSV are loaded as curves
- Fixed issue generating programs with post processor
- Start on robot works for Python programs using custom post processors
New in RoboDK v2.6.1 (2016-09-11)
- Copy joints has comma
- Fixed RoboDK Python transl() issue
New in RoboDK v2.6.0 (2016-09-08)
- Fixed issue with UR post processor when passing parameters
- Added WaitProgram API call to wait for a program to finish
- Improved Fanuc post processors
- Python2 and Python3 versions of the RoboDK API are properly used depending on the selected version of Python
New in RoboDK v2.5.9 (2016-09-01)
- Fixed select curve issue for polishing
- Updated DXF 2 Gcode import
- setSpeed supports joint speeds and accelerations
- Improved UR API to support setting speeds and accelerations for linear and joint moves
- Fixed issue with linear and joint move using drivers, cartesian data was not provided properly
- Fixed filter issue with KUKA SRC programs having external axes
- Added KUKA CamRob CSV post processor with corrected average speed
New in RoboDK v2.5.8 (2016-08-24)
- Improved program generation from the API for multiple robots
- Added close side windows option
- Added Pause/Play option
- Improved Mecademic post processor
- Improved Fanuc post processor to set UTOOL and UFRAME by ID only
New in RoboDK v2.5.7 (2016-08-23)
- Improved display performance
- Pre-processed file is stored in a temporary directory
- Zone data/accuracy value set to 'Rounding value'
- Renamed some menu items (Instructions)
- Added option to change the program name and post processor from the API when generating programs
- Fixed issue with ToolChange event (when set to empty)
- Fixed issue with program calls having empty values
- Fixed issue with progress bar when generating programs
New in RoboDK v2.5.6 (2016-08-12)
- Fixed issue generating program using Python (issue caused after 2.5 update)
- Improved performance generating from Python programs
- Added Mitsubishi and Mecademic post processors
New in RoboDK v2.5.5 (2016-08-12)
- Fixed issue with UR post processor (created by blending update)
- Speed optimized when programs are simulated (double click)
- Simulation improved for milling projects
- Fixed issue for polishing projects
- Improved calibration report statistics (calibration vs validation are different)
New in RoboDK v2.5.4 (2016-08-10)
- Fixed issue with running programs connected to the robot (if the driver provides joint feedback it does not work)
- Improved automatic fix for surface normals
- Improved Manage IO feature in RoboDK
New in RoboDK v2.5.3 (2016-08-09)
- Fixed API communication when retrieving a large list of joints positions
- Default curve pick sensitivity set to a smaller value (2mm instead of 10mm)
- Removed option 'MoveL, otherwise MoveJ' (it is not available for most robot controllers)
- Improved target icon refresh problem
- Fixed issue with WaitDI and no timeout
- Allowed to create programs without robot
- Limited actions between different stations
- Fixed tabs for robot speed settings
- Fixed Fanuc post processor
- Added Kawasaki post processor
- Improved UR post processor (MoveC and IO)
- Renamed confusing buttons
- Improved algorithm to create calibration targets for a laser tracker calibration
- Fixed issue with large program dependency (provoked crash)
- Fixed issue with program-robot assignment
- Fixed other bugs
- Fixed loop cycle issue when connected to the robot (run on robot)
New in RoboDK v2.5.2 (2016-07-26)
- Improved Fanuc post processor
- Improved modify robot or mechanism
- Fixed bug for group object parts together
New in RoboDK v2.5.1 (2016-07-15)
- Improved Staubli Post Processor to support FTP transfer
- Stop program or robot allowed through the API
- API Instruction() returns the current instruction by default
- Fixed singularity avoidance for welding Motoman robots (axis 5 behaves differently)
New in RoboDK v2.5.0 (2016-07-12)
- Improved performance when creating mechanisms
- Added option to retrieve the number of triangles per object
- Robot connection parameters can be read/modified by the API
- Fixed API functions: Pose_2_UR and UR_2_Pose
New in RoboDK v2.4.7 (2016-07-08)
- Scara robots can be built/modified in RoboDK
- Improved Staubli post processor
- IO added in the GUI
- Curve normals are fixed automatically when surface normals are inverted
- Fixed JBI program import (speed set on movements can be omitted)
New in RoboDK v2.4.6 (2016-07-01)
- Added WaitDI and SetDO options in post processors (API only)
- Added option to call program with arguments
- Added option to be able to track the position of the TCP when the robot is connected to RoboDK
- robot.Busy() reports busy status if the robot is connected
New in RoboDK v2.4.6 (2016-06-29)
- Improved robot calibration report and filters. Changed blue to green for successful results
- Added Rhinoceros rotation style
- Rotate around the selected point
- Improved default collision map settings
- Station variables are saved with the station
- Simplified the robot parameters menu
- Robot joint limits can be changed by double clicking the joint limits
- Improved robot calibration and repeatability report
- Robot calibration report can be exported as PDF file
- Pose options menu is now visible and it is possible to invert reference frame poses
- Fixed bug crash when the milling project was deleted after selecting features
- Calibration measurements hides the calibration window
- Added option to respect turns
- Fixed robot driver to provide cartesian data
- Fixed issues with Staubli VAL3 post processor
New in RoboDK v2.4.4 (2016-06-18)
- Fixed KUKA SRC import bug for speed and MoveC
- Fixed KUKA driver
- Fixed KUKA Python post processor to export circular moves
- Fixed post processor bug caused by last update
- Fixed API issue with InstructionListJoints() and zone data
New in RoboDK v2.4.3 (2016-06-17)
- Fixed issue with post processors, saved program was not provided to RoboDK to use the feature 'Start on Robot'
- Added ConnectedState on API to check the robot connection status
- Move time calculation has been improved for movements that only involved orientation change
- KUKA Circular moves can be imported
- Added Rhinoceros camera mouse move
- Fixed bug with Denso RC8 post (J keyword is used for joints)
- Added Cam2D_SetParameters API option
- Added API option to create joint list of programs including the smoothing parameter (Zone data)
New in RoboDK v2.4.2 (2016-06-15)
- Added Toshiba Scara robots with Post Processor
- Added Denso RC8 post processor
- Fixed issue with UR post processor when multiple programs are generated as one program file (built in and Python post processor)
- Fixed layout for robot parameters form
- 2D camera workspace and sample view is updated live
New in RoboDK v2.4.1 (2016-06-13)
- Added option for API ShowMessage not blocking
- Fixed View2D camera issues
- Fixed IsInside API issues
- Added WaitDI and SetDO script macro functions
New in RoboDK v2.4.0 (2016-06-10)
- Robolink API can be used in post processors
- Mac version updated
New in RoboDK v2.3.6 (2016-06-09)
- Added MoveC to API (Python and C#)
- Improved API getParam method to return None if the parameter is not defined
New in RoboDK v2.3.4 (2016-06-08)
- Quick update with 2D camera fixes
New in RoboDK v2.3.4 (2016-06-06)
- Added 2D camera views
- Added 2D camera view support from API
- Fixed reference frame issue when robot reference frame was used
- Added progress bar for Python program generation
New in RoboDK v2.3.3 (2016-06-02)
- Added copy/paste option for station parameters
- Added delete all parameters option in station parameters
- Fixed bug for Run on robot
- Robot speed (mm/s) is taken into account when used with the 'run on robot option'
- setSpeed() updates joint speed when used with a cartesian robot or equivalent
- Added command line option to start/make programs and wait until they finish
New in RoboDK v2.3.2 (2016-06-01)
- IsBusy now accepts programs
- Added point projection
- Improved option to run programs on robot from the API vs only simulate (selection can be made from the API)
- Improved UR API to support running programs by name
- Post processors show an appropriate progress bar
- Update for Mac ready to automatically set PYTHONPATH for post processors
- Improved Staubli VAL 3 post processor
- Improved error messages for linear moves
- Improved API problem for ProjectPoints and AddCurve
- Fixed issue with the RoboDK viewer
New in RoboDK v2.3.1 (2016-05-30)
- Added Universal Robots script import feature
- Fixed bug with python calls inside a program using arguments
- Fixed Gcode import issue with arcs
- Fixed DXF issue (comments were taken as instructions)
- Auto detected Python PyCharm editor as Python editor
New in RoboDK v2.3.0 (2016-05-25)
- Added option for offline library (Professional licenses only)
- Added Yamaha scara robots
- Added Yamaha post processor draft
- Fixed KUKA IIWA post processor
- Improved multiple calls to script: subsequent calls are queued. Ideally they should be considered as parallel calls.
- Removed extra slash from warning message when Post processors are not found
New in RoboDK v2.2.9 (2016-05-17)
- Added 7-axes machining sample
- Added 8-axes machining sample
- Added conveyor simulation with a laser sensor (collision detection)
- Added pick curve sensitivity to select edges/curves of small objects
New in RoboDK v2.2.9 (2016-05-16)
- Fixed collision detection through API
- Added sample stations
- External axes allowed in the target options form
New in RoboDK v2.2.8 (2016-05-13)
- Added support for optimizing linear tracks, including turntable simultaneously (8 axis)
- Fixed milling optimization bug
- Added support for importing and filtering programs with external axes (robot accuracy option)
- Improved milling optimization algorithm (faster speed, less memory usage)
New in RoboDK v2.2.7 (2016-05-11)
- Changed degrees step for XYZWPR form to 5 deg
- Milling optimization shows process and can be cancelled
- Milling optimization generates the program even if it fails
New in RoboDK v2.2.6.2 (2016-05-10)
- KUKA program import and filtering has been improved to support any reference frame or tool frame
- Improved UR driver
- Robot driver now is forced to end execution if disconnect is double clicked
New in RoboDK v2.2.6 (2016-05-9)
- Added missing setSpeedJoints() and setAccelJoints() to post processors
- Fixed joints sense for KUKA IIWA (forward and inverse kinematics changed)
- Added KUKA IIWA post processor
- Fixed issue with some post processors (def def)
- Station parameters are updated if anything is changed through the API
- Improved but with the KUKA filter for absolute accuracy
New in RoboDK v2.2.5 (2016-05-4)
- Added API call to check if an object is inside another object
- Added reference frame and tool frame names for post processors
- Added option to block exporting objects (CTRL+ALT+SHIFT+P)
- Added VS2010 redistributable by default (required by DXF to Gcode conversion)
- Object edges are always displayed if an object does not have geometry shape
- Added option to export curve
- Normals are reoriented automatically according to surface shape normals
- Improved Chinese translation
- Curve following project improved when the robot holds the object (bugs appeared after previous updates)
- Added import option for KUKA robots and filter (beta)
New in RoboDK v2.2.4 (2016-04-25)
- Fixed conflict between demo and Network license
- Added denso robots
New in RoboDK v2.2.3 (2016-04-24)
- Fixed bug for program simulation/generation when certain movements were too close to axis limits. This bug was triggered mostly for circular moves close to axis limits
- Fixed Nachi post processor to support tool id instead of setting the tool frame inside a program
- Added instruction numbers on programs automatically generated
- Improved automatic target naming when select target from move instruction is used
- Limited inverse kinematics for H-bot robots
New in RoboDK v2.2.2 (2016-04-16)
- Fixed issue generating programs for calibrated robots
- Fixed issue generating programs for robots with external axes
- Improved KUKA KRC2 post processor
- Programs stop when a collision is detected
- Camera near value reduced to 1mm (was 100mm)
New in RoboDK v2.2.1 (2016-04-08)
- Fixed bug on window closing the window measure point
- Pasting XYZ values is allowed for reference frames
New in RoboDK v2.2.0 (2016-04-06)
- Fixed issue with Nachi robots (Euler angles)
- Workspace included for Universal Robots
- Fixed license issue between demo license and Network or USB Dongle license
New in RoboDK v2.1.9 (2016-04-05)
- All post processors are shown using the default text editor
- On program right click -> select post processor sets the current post as default
- Fixed bug with Kuka CamRob post processor
- Fixed weight issue with ABB post processors
New in RoboDK v2.1.8 (2016-04-04)
- Laser tracker and stereo camera calibration macros have been improved
- Fixed issue with Staubli VAL3 post processor (Staubli VAL3 Euler angles behaves like KUKA/Fanuc Euler)
- A LOG message is displayed when a program is generated with errors
- Reorganised the Euler angle types. Now Generic Euler mode is the same as KUKA/Fanuc.
- Added Euler mode for UR with radians
- Fixed bug when replace robot is used by selecting the robot on the screen
- Fixed issue importing STL files
New in RoboDK v2.1.7 (2016-03-31)
- The main tree window can be put on the left side and not in the main window (problem with older graphic cards) (View->Show Tree in main Window)
- Drag & Drop inside the window tree is more permissive when the right mouse click is down
New in RoboDK v2.1.6 (2016-03-30)
- Staubli VAL3 post processor included with installer
- Nachi post processor supports cutting large programs in smaller subprograms
- Insert comment instruction allowed (Program->Add custom code)
- Added C# API
- Added Configuration data in Python post processors
New in RoboDK v2.1.5 (2016-03-29)
- Added option for orthographic view (View->Perspective on/off: off = orthographic)
- Fixed tree menu view for old graphic cards
- Fixed layout size for buttons in the robot connection menu
New in RoboDK v2.1.4 (2016-03-25)
- ABB MOD programs can be imported by variables
- ABB built in post processor tabs have been improved to align IF, WHILE, ERROR, SWITCH, etc
- Fixed layout for certain labels in the robot parameters menu
New in RoboDK v2.1.3 (2016-03-24)
- Added support for G04 Px (wait) for milling projects
- Added support for M62-M65 (turn on/off digital output) for milling projects
- Added command line option /PORT=20509 to be able to start the API on a given port
- Added API option to start RoboDK hidden and to show or hide it through the API
- Improved inverse kinematics of palletizing robots to support Kuka PA robots
New in RoboDK v2.1.2 (2016-03-16)
- Fixed bug for G-code import. Comment character was ignored.
- Updated Gcode example with the box and Nachi robot with this fix.
New in RoboDK v2.1.1 (2016-03-15)
- Fixed bug when 'Modify robot' is selected (it was not possible to select the robot parts)
- UR driver now allows connection to localhost (127.0.0.1)
- Movements from the API directly to the robot are allowed (movements such as MoveJ and MoveL)
New in RoboDK v2.1.0 (2016-03-09)
- RoboDK API improved. When starting a script from the GUI, API server connection is checked
- RoboDK API options menu has also been improved
- Milling options->The Z rotation step updates the project automatically only when editing is finished instead of every edit
- Kuka post processor includes configuration data and axis data
- Option added to use tool ID and reference frame ID instead of poses
- Simulation buttons fit better with high resolution screens
- UR inverse kinematics improved with more solutions and more options
- Improved bug with APT circles for milling
- Improved small bug setting the pose in the pose window
- Performance improved when deleting all visible instructions of a program
- Milling window is not hidden anymore
- Extruder option added for 3D printing as a function call with the extruder feed (E value)
- Spindle speed, change tool id and extruded added as macros that can be modified
- Improved custom Fanuc post processor
- Added $ADVANCE = 1 in the Kuka built-in post header
- Added the option Tools->Measure tool
New in RoboDK v2.0.7 (2016-03-01)
- Dongle license available for Windows 64 bit
- Added API calls AddShape and AddCurve to add new geometry or curves as well as project the curves if desired (2 Macro examples have been added to the library). New shape can also be added to robot links
- Changed Euler types by their corresponding brand names.
- Fixed bug with DXF extension when the file was in CAPS (it would not allow to edit the path manually).
- Folder to save programs is not desktop by default anymore. The first time a program is saved, a message shows up asking for the save directory
New in RoboDK v2.0.6 (2016-02-24)
- Replaced __eq__ by __cmp__ in the robolink.py api
- Python idle uses Ctrl+Y for redo
- When a Python post processor fails it shows the error in a message box
- Desktop is not used as default folder to generate programs. The first time a program is generate, a message pops up to specify the program folder
- Arguments in brackets of Python function calls are provided with their arguments (example DoSomething(2,'up'))
- Added approach/retract for each path (milling menu)
- Added point approach for each project (milling menu)
New in RoboDK v2.0.5 (2016-02-19)
- Added option 'Fix normals automatically' in the menu Tools->Change color utility
- Added option RL.Collided(item1,item2) to check collision between 2 objects
- Split in half for edges has been added
- Edge normals are automatically fixed if there is no projection to surface found
New in RoboDK v2.0.4 (2016-02-17)
- Improved curve and surface selection for operations like painting, inspection and welding. The user can now select any edge without having to specify the curve in the CAD software.
- The surface to zig-zag curve feature has been improved by specifying the step size and clearance (in the menu Tools->Options->CAD).
- Added menu options 'Utilities->Curve follow project' and 'Point follow project' to easily follow curve or point features.
New in RoboDK v2.0.3 (2016-02-05)
- Motoman robot programs can be split into several programs
- The reference frame of the robot is updated if a target is double clicked (more intuitive)
- Table size is set to a smaller size for 3D printing, otherwise, a large approach is used.
New in RoboDK v2.0.2 (2016-02-01)
- Perofmance fix importing CNC files (performance conserably improved for large files)
- Added 3D print support
- Web library is opened externally if there is no internet connection or connexion is blocked
- Objects can now be saved as Binary STL files
- Surface to ZizZag option now accepts parameters (step between passes and clearance from border)
- Removed suggestion to deactivate auto update for large programs (it is done automatically)
- Added 'Maintain plane' option for milling programs with turntable
New in RoboDK v2.0.1 (2016-01-26)
- Robot limits change in the robot form for Fanuc robots and certain ABB robots
- Fixed bug with built-in ABB post using external axes
- Added tool calibration through the API (CalibrateTCP)
- Added custom post processor for Nachi robots
New in RoboDK v2.0.0 (2016-01-01)
- Now the user can build robots (6 axis, 7 axis, 1T, 2T, 3T, 1R)
- It is possible to generate 3D PDF and HTML simulations
- Fixed robot calibration warning (for base setup, if there are warnings, now the screen appears read instead of blue)
- Added icons for left-click Menus that list tree items.
- Added copy/paste feature for pasting points or curves using data coordinates (from an excel or text file for example).
- Added different icon for joint targets (green instead of read).
- Improved Python API for 'getParam()', 'getParams()' and 'setParams()' to automatically support numbers (numbers are converted to floats).
- Added the option to modify the lag time for uncontrolled Render.
- Added option Tools->Rename item (F2)
- The toolbar state is now saved and restored. Default settings can be set by Tools->Restore default toolbar
- Added Event options for objects. It allows left clicking an object and execute specific actions.
- Disabled Wheel mouse button (middle button) for the tree (avoids picking items unexpectedly)
- Added Right click menu to move items in the tree (move before, move nested and move after)
- When collision check is deactivated, nothing is left red
- Collision map now shows the full table (not half as it used to be)
- Added option right click on robot-> Attach tool->Select object
- Added icons on left click menus
- Added dongle licensing type
- Added partner reference in the menu about (if applicable)
- UR built in post supports subprograms
- Fixed UR python post to properly post in radians
- Fixed bug with change color utility
New in RoboDK v1.7.5 (2015-11-24)
- Fixed bug with Circular movements when the target was not specified.
- Added post for V+ (Adept, Kawasaki and some Staubli controllers)
- Added post for Comau robots (C4G)
- Simulator orientation now it sets properly for Comau, Staubli, Kawasaki and Adept robots
- Improved input command line arguments
New in RoboDK v1.7.4 (2015-11-18)
- Fixed bug with UR built in post processor (added tab for blend_radius)
- Fixed bug with UR custom post processor (alignment problem would not compile the post)
- Improved adding instructions in a program: if an instruction is selected, and a new instruction is added the new instruction will be added after the instruction that was previously selected.
- Added API function robot.LinkPoses(), which returns the position of all the robot links
- Improved API functions robot.Joints/setJoints to support external axes.
- Improved API function robot.Pose/setPose: added exception for robots -> The Pose returns the position of the end efector and not the position of the robot base
- Improved API exchange of arrays like Name() and setName(). The arrays were truncated if they were too long.
New in RoboDK v1.7.3 (2015-11-17)
- The robot post processor can be selected from the program (right click a program->Select Post Processor)
New in RoboDK v1.7.2 (2015-11-15)
- Added joint speed and acceleration support for processors
- Addded support for external axes using custom post processors
- Improved built-in Kuka and Fanuc posts to support external axes
- Updated robodk.py to always provide quaternion data (sqrt(-x) changed to sqrt(0))
New in RoboDK v1.7.1 (2015-11-13)
- Added time calculation option to select between angular vs linear speed constrain (Tools->Options->Motion->Time calculation mode)
- Fixed problem for newly created posts from scratch (ProgSave)
- Milling feature-> Fixed problem with start configuration (it would not rotate around the tool)
- Milling feature-> Fixed problem with preferred joint start for external axes
- Fixed layout for simulation bar on Mac computers (removed pixel size constrain)
New in RoboDK v1.7.0 (2015-11-11)
- IMPORTANT: Added joint speed change in the speed change menu, version 1.6.4 and future versions are not backwards compatible if speed change instruction is used!
- Fixed STL import bug (for certain Rhino STL files)
- ABB post processors have been improved (tabs better aligned, custom definition of variables, functions, ...)
- Customized code and program call icons are now different (more clear).
- Fixed inverse kinematics problem for 5 axis robots (to include Fanuc LR Mate 200iC/5H)
- Fixed configurations for 7-axis robots (Such as Kuka LBR IIWA robots).
- Fixed bug with API call AddFile(): when called on an existing item, it did not work.
- Milling with external axes works well (the user is not allowed to build or modify external axes)
- Milling with external axes works also for Circular moves
- Milling projects can have customized event calls (program)
- Fixed optimization bug when loading a CAM program (too many updates at the same time provoked a slow down).
- Settings are saved as version dependent.
- Milling Optimization allows collision checks (experimental: CTRL+ALT+SHIFT+L)
- Fixed Mac layout on robot parameters form
New in RoboDK v1.6.3 (2015-11-02)
- Milling support for Scara robots (any robot with 3-7 axes).
- Target can be saved or 'moved to' from the target options menu (F3).
- Instruction/program call text field tab size equals 4 (instead of 8).
- Program can be stopped anytime and the instruction pointer is saved (Backspace key).
- Added demo for pick and place with delta robots.
- Fixed bug with API call DetachClosest() (crashed if no parameters were provided)
- Milling with external axis starts to be experimental.
- Server allows commands from the outside.
- ABB MOD/PRG import allows importing multiple programs.
New in RoboDK v1.6.2 (2015-10-22)
- Code signing certificate for the installer!
- Custom Fanuc post processor added.
- Post processor allows adding subprograms together with the main program.
- Fixed memory leak for CAD objects.
- Fixed bug on importing points or wires (sometimes we could not select the newly added features).
- No crash when opening STEP/IGES files directly from the file.
- Two daihen robots and one ABB robot added.
- Expire date allowed for standalone licenses.
New in RoboDK v1.6.1 (2015-10-11)
- Added support for robot milling when the part is held by the robot (typical for robot polishing and grinding) (Option Utilities->Milling project->Select algorithm->Robot holds object).
- Added the ABB IRB 6700 series to the library (8 robots).
- Added support for 5-axis delta robots where axis 4 and 5 do not intersect.
- Bug fix for Network license check.
New in RoboDK v1.6.0 (2015-10-06)
- Included the option 'Utilities->Add Mechanism', which allows modelling any mechanism by a user like a Cartesian + Spherical robot (up to 6 DOF)
- Included support for 5-axis delta robots (like Codian Robotics D5)
- Program time now shows up on the simulation bar.
- Program time calculation includes subprogram/s time.
- Fixed bug with UR code generation: speed in radians and mm were mixed up.
- Fixed bug with UR code generation: acceleration was not being properly set.
- Included alternative UR custom post.
- Fixed bug for program filtering with ABB robots (robot accuracy).
- The Python program DoWeld_All in the 'Offline programming sample with 3 robots', has been modified to make synchronized movements.
New in RoboDK v1.5.9
- Included support for 4 axis palletizing robots.
- Included Allen Bradley Logix custom post processor.
- The RoboDK API has been improved to support moving multiple robots at the same time. Each robot requires a new Robolink() instance (if Python API is used)
- Added offline programming sample to move with 3 robots.
- Bug fixes
New in RoboDK v1.5.8
- Included the option 'Tools->Options->CAD->Generate zig-zag curves from surfaces' to allow generating painting/inspection programs on surfaces (this option is experimental, use 'Program->Teach target(s) on surface' instead)