[Kenn_Tran]

Through the API, how do I remove approach and retract from the project settings?

[Albert]

You can try the following line to remove the approach and retract movements from your robot machining settings:

Code:

m.setParam("ApproachRetract", "Normal 0")

[Kenn_Tran]

Sorry, I wasn't clear on what I wanted. Though setting Normal to 0 does remove the approach and retract movements, it doesn't remove the instructions themselves. 

I have KUKA program that I modify after exporting, where I wrap the first LIN movement on the path between events to enable the welder. The same thing is done for when the path ends to turn the welder off.

Code:

-> ARC_ON_BEFORE
FIRST_LIN_ON_PATH
-> ARC_ON_AFTER

-> ARC_OFF_BEFORE
LAST_LIN_ON_PATH
-> ARC_OFF_AFTER

The issue that I'm having is that RoboDK will remove instructions that are seen as duplicates if they're close enough. Because of this, instead of wrapping my events around the first LIN movement on the path. I have to wrap it on the first approach instruction that is on the path.

Code:

-> ARC_ON_BEFORE
FIRST_APPROACH
-> ARC_OFF_AFTER
SECOND_APPROACH      <- This gets removed
FIRST_LIN_ON_PATH    <- This gets removed
SECOND_LIN_ON_PATH

For whatever reason, the retract is doing the opposite. Where the last retract is kept but the last LIN and first retract is removed.

Code:

SECOND_LAST_LIN_ON_PATH
LAST_LIN_ON_PATH     <- This gets removed
FIRST_RETRACT        <- This gets removed
-> ARC_OFF_BEFORE
SECOND_RETRACT
-> ARC_OFF_AFTER

In RoboDK settings there is the option for, "Output for linear movements". Where I can set the values to 0 to prevent the movements from getting filtered. But I would like to avoid setting them to 0 in case I actually have duplicate instructions along the path that may cause the robot to throw errors or do something weird.

[Kenn_Tran]

Hi, is there a way to remove these instructions? Or do I need to remove them manually?

What I want is to prevent the instructions between the Path Start and Path Finish events from getting deleted because of the duplicate filter and properly remove the approach and retract instructions.

[Albert]

If you manually remove the approach and retract from your curve follow project, do you see the movements you want to remove?

If you can share your RoboDK project file we can better understand.

Another option is to customize the post processor to filter out the movements you want to remove.

[Kenn_Tran]

I've attached a RDK file and 4 exported KUKA scripts. 

2 of which have their instructions filtered.
   

And the other 2 don't have filter.
   

In the RDK station there are two paths, Action45591 and Action45625.

Action45591 has the approach and retract enabled where there is the first approach 100mm away from the second approach that is on the Path's first target. The same thing on the retract, where the first retract is on the last target of the path and the second retract is 100mm away.

When I export the program into a script, it will delete Path Target 1, the target that I want to keep. For the retract, seems like the issue I had before isn't present anymore.. So I can properly wrap the ARC comments around Path Target 2 and RoboDK will delete First Retract.

For Action45625, I have additional approaches and retracts that I attach to the program. In this program, the order is similar to Action45591 but this time the First Approach and Second Approach are both at the same position as Path Target 1.

With the approach, I want wrap the ARC comments around Path Target 1. But I also don't want to disable/remove the duplicate filtering.

I can definitely manually delete the instructions but I would rather have an option to completely remove the approach and retract instructions if they are no longer being used.

[Albert]

The curve follow project and the events duplicate movement instructions to "wrap" program events, which allows you to be on the safe side in case of unpredictable movements.

I would leave this approach as it is, but the option to delete duplicate movements may be useful under some circumstances.

The Welding add-in also uses duplicate instructions to insert commands between them.

Do you really need to remove these duplicate movements? If so, you should customize the post processor to remove or filter out these events.