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 Get Joint Speeds for a Robot Path using Python API p.f Junior Member Posts: 1 Threads: 1 Joined: Jul 2018 Reputation: 0 07-10-2018, 12:13 AM I'm trying to use the Python API to get the joint speeds of a robot based on a constant tool speed for a tool path created by a series of MoveL commands. It looks like InstructionListJoints may be able to provide this information however I couldn't figure out how to use it.  An example of InstructionListJoints would be helpful, or a suggestion for a better method, thanks. Find Reply Filipe Ribeiro Junior Member Posts: 2 Threads: 1 Joined: Jul 2018 Reputation: 0 07-13-2018, 02:20 PM Maybe the best option is to obtain the position [x,y,z] each second, and do physical concept of velocity with the combination of the 3 components of velocity you will calculate. I was searching on python API and I didn't figure out nothing that clearly gives you the joint's velocities. Maybe there is a better way to do it. Find Reply Albert Moderator Posts: 1,381 Threads: 1 Joined: Apr 2018 Reputation: 69 08-14-2018, 09:28 PM With the latest version of RoboDK you can extract timings for your joint list. Make sure to provide flags=2 or flags=3 # Split your program by steps of 1 mm and 1 deg message, data, success = program.InstructionListJoints(mm_step=1, deg_step=1, flags=2) data is a Matrix with columns containing the following information: [J1, J2, ..., Jn, ERROR, MM_STEP, DEG_STEP, MOVE_ID, TIME, X_TCP, Y_TCP, Z_TCP, Speed_J1, Speed_J2, ..., Speed_Jn] You can then map the times with the joint positions. More information here: https://robodk.com/doc/en/PythonAPI/robo...ListJoints https://robodk.com/doc/en/CsAPI/api/Robo...sType.html The C# documentation is more complete regarding the effect of changing the flags. Find Reply

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