10-16-2025, 09:18 AM
Dear RoboDK-Team and dear RoboDK-Community,
what I would like to do, is to gererate a tool path using your python API, create a robot program using your python API and gerenate an actual robot program using a post processor.
My physical set-up:
what I (physically) have is a kuka KR 70 R2100 robot and a KP2-HV500 turn tilt table. The turn tilt table is set up as external axes. so an E6Pos looks like this:
POS = {X,Y,Z,A,B,C,E1,E2}
Those axis are kind of interpolated, but not synchronized. So lets say I have two points:
POS1 = (0, 50, 100, 0,0,180,90,0)
POS2 = (10,50,100,0,0,180,90,10)
When doing a LIN movement from POS1 to POS2, all axis are moving together. The robot head is moving with the programmed velocity and die E2 axes in such a velocity, that it reaches the position of E2 in the same moment, the robot head reaches its goalposition X,Y,Z. The physical orientation of the tool (pointing to the bottom aligned with z-axis) did not change.
In my understanding, this is contrary to "synchronized" axis, where ... the orientation A, B, C are relative to a coordinate system that is attached to the turn- tilt table. and hence having a tool just pointing downwards can have all kind of A,B,C, depending on the orientation of the turn tilt table.
simulation in roboDK:
In roboDK I now have "two" robots: KUKA KRC 70 R2100 and KP2-HV500. How would I set up the "interpolating" behaviour that I am observing on the physical set-up?
I've seen that there is the possibility of synchonize external axis. Am I right that this would result in the behavior that I described as "synchronized" above?
As described in short words in the beginning: I would like to use a post processor to get a robot program. How do I get to the E1 and E2 positions of the turn-tilt-table if a robot program in roboDK is assiciated to only one robot? Of course it is possible to share the station or additional information.
Kind regards
Gregor
what I would like to do, is to gererate a tool path using your python API, create a robot program using your python API and gerenate an actual robot program using a post processor.
My physical set-up:
what I (physically) have is a kuka KR 70 R2100 robot and a KP2-HV500 turn tilt table. The turn tilt table is set up as external axes. so an E6Pos looks like this:
POS = {X,Y,Z,A,B,C,E1,E2}
Those axis are kind of interpolated, but not synchronized. So lets say I have two points:
POS1 = (0, 50, 100, 0,0,180,90,0)
POS2 = (10,50,100,0,0,180,90,10)
When doing a LIN movement from POS1 to POS2, all axis are moving together. The robot head is moving with the programmed velocity and die E2 axes in such a velocity, that it reaches the position of E2 in the same moment, the robot head reaches its goalposition X,Y,Z. The physical orientation of the tool (pointing to the bottom aligned with z-axis) did not change.
In my understanding, this is contrary to "synchronized" axis, where ... the orientation A, B, C are relative to a coordinate system that is attached to the turn- tilt table. and hence having a tool just pointing downwards can have all kind of A,B,C, depending on the orientation of the turn tilt table.
simulation in roboDK:
In roboDK I now have "two" robots: KUKA KRC 70 R2100 and KP2-HV500. How would I set up the "interpolating" behaviour that I am observing on the physical set-up?
I've seen that there is the possibility of synchonize external axis. Am I right that this would result in the behavior that I described as "synchronized" above?
As described in short words in the beginning: I would like to use a post processor to get a robot program. How do I get to the E1 and E2 positions of the turn-tilt-table if a robot program in roboDK is assiciated to only one robot? Of course it is possible to share the station or additional information.
Kind regards
Gregor
