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Controlling URCaps Within RoboDK


I am curious whether or not it is possible to program URCaps in RoboDK, specifically the Aruna Motion (rotary table) cap. I simply want to set the position of the rotary table at certain points of my program. I already have created the table and have the simulation aspect of it functional in RoboDK but wanted to see if I can take it a step further so that the URP post processor can implement this movement automatically when I generate the program.

I understand that UR controllers do not support synchronized turntables. However, a workaround is to split movements into smaller joint movements (in Tools-Options-Program), and have a custom implementation to drive your turntable.

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