[wsciambra]

I am currently programming the positions of my UR10e and am modeling the points for the robot to hit using OnShape. This requires me to input the target coordinates one at a time to get the position and angles for the robot to hit. Is there a way for to see a working list of the targets in a CSV format? Or a way for me to upload a list of coordinate values to generate the targets that way?

[Albert]

Yes, you can import a list of points or targets in XYZWPR format as a CSV file by following these steps:

1. Select Tools-Run Script
   
2. Select ImportCSV XYZ if you only have XYZ values (orientation will be constant)
   
3. Alternatively you can select ImportCSV XYZWPR if you also have orientation information in Euler format. The format should be in Z-Y'-X'' (same as Fanuc or Yaskawa/Motoman)
   

Units are mm for position and deg for orientation.

You can find more information here:
https://robodk.com/doc/en/PythonAPI/exam...ram-xyzwpr

[wsciambra]

Aswesome,

Thank you Albert.

I have another question. I am adjusting my part holding quite a bit and it is effecting the required configuration for the targets. This is requiring me to move the robot linearly to all of the points and teach the current position/configuration. Is there a feature that I am not aware of that would assist with this process?

I want to keep the movements as move J's but don't want to have to adjust the targets each time or want to be able to adjust them all at once.

Thank you,