[Kevin.Zhang]

I have a series of Cartesian points, and I have already determined the corresponding external axes values for these points.
I want to import these points into RoboDK while preserving the external axis value associated with each point. How should I do this by C# API?
Thanks very much!

[Albert]

When making a robot move to a target and specify the value of external axes you should set the external axis values with setJoints before assigning the Cartesian pose. The Cartesian target keeps the pose, and the external axis values are stored in the target joints.

Example using C# code:

Code:

target.setAsCartesianTarget();
target.setJoints(new double[] {0, 0, 0, 0, 0, 0, e1, e2});
target.setPose(pose);

If you have only one external axis, use:

Code:

target.setJoints(new double[] {0, 0, 0, 0, 0, 0, e1});
target.setPose(pose);

[Kevin.Zhang]

Thanks very much! I will try this.