[JaeHong Yoo]

Hi everyone, 

As far as I know, KUKA provides a spline function, which is a motion type particularly suitable for complex and curved paths. I am wondering if there is a way to use the spline PTP(SPTP) function in RoboDK.

Following the documentation provided by RoboDK, I am using the kukabridge RoboDK driver in RoboDK, and I have installed the C3bridge on the KUKA robot controller with KSS 83. version, along with the RoboDKsync562.src program. This setup allows me to communicate between the KUKA robot controller and a Python-based RoboDK api server.

Currently, in the RoboDKsync562.src file that I have, only the motion commands for PTP, LIN, and CIRC are implemented. Is it possible to use SPTP with RoboDK?

Additionally, I am curious about executing a PTP_REL motion command by sending a specific trigger signal from the RoboDK API to the KUKA robot communicating with RoboDK. As far as I Know, the RoboDKsync562.src program distinguishes commands from RoboDK with COM_ACTION. Can I modify this part to handle new commands sent from the RoboDK API?

I understand that the data is packetized in the kukabridge driver, and it seems that modifying this part might be necessary. However, I do not have access to the source code for kukabridge and cannot modify it.

Could you provide guidance on how to achieve this?

Thank you for your help

[Albert]

You can modify the RoboDKsync.src program file to move to joint targets using the SPTP motion command instead of the default PTP command.

It is not possible to use the PTP_REL command using the driver, however, I recommend you to look at the Offset function of the API which allows you to calculate targets relative to another target. All the calculations are done by RoboDK and you could send Joint targets once you have calculated your next target. You can find more information about the Offset function here:
https://robodk.com/doc/en/PythonAPI/robo...ath.Offset

The RelTool function can also be useful to calculate targets relative to the tool position:
https://robodk.com/doc/en/PythonAPI/robo...th.RelTool