[jeas]

I'm currently working on a RoboDK KukaOfficelite and TwinCAT simulation.

The real robot uses collision sensors and sends this to TwinCAT.

I want to use RoboDK's collision checking and set a variable when triggered (by a gripper or robot) and send this variable to TwinCAT (ads).

How do I evaluate the status of the collision check in RoboDK using Python?

[Sergei]

There are several API functions for handling collision detection.
You can find a detailed description in the RoboDK Python API documentation:
https://robodk.com/doc/en/PythonAPI/sear...ea=default

You can also try using our OPC-UA Add-in to connect RoboDK and Twincat:
https://robodk.com/doc/en/OPC-UA.html#OPCUA

[jeas]

Thanks. I know about the OPC plugin. But the TwinCAT (ads) part I can use from older projects.

[Albert]

What do you mean by the TwinCAT / ads part?

[jeas]

I use Pyads. In the PLC (here 3), I use input/output variables (structs) that are linked to the robot via Ethercat hardware in real-world operation. In the simulation, I read/write them via Pyads and connect them via RoboDK/KukaOfficelite. Every robot has the same structure, so this is a library. Some time ago, I used other expensive drivers for Twincat-KukaOfficeLite communication. But it doesn't have to be that way . I just see I have been using RoboDk for ca. 10 years

[Albert]

OK I understand better know. Thanks for this information.

So you should be able to communicate with TwinCAT without paid modules using Python. Another option is to use plain Modbus or OPC-UA. There are Python modules. For example, we use pymodbus to communicate with Omron TM robots when you use the driver for this robot.

[jeas]

years ago, I used RoboDK with Modbus. I purchased a tool for this. But 90% of my customers use TwinCAT, and almost all of them have a fixed structure how they communicate with the robot. Now I have an ADS connection between RoboDK and the PLC, and in RoboDK, I link all the signals to Kuka.Officelite. (Until I find a way to establish The EtherCAT connection in Kuka.Officelite.)
In RoboDK, I then manipulate the robot signals, as product in the gripper, crash sensors, etc.

[Albert]

OK thank you for your feedback. Let us know if you need help with your integration between RoboDK and EtherCAT.