[Kenn_Tran]

Is there a way to change the tool offset along the path rather than just applying the tool offset in the machining project where it affects the whole path?

For example, along my path at a certain point the robot might hit a wall because a tool attached to the robot is in the way. I want to be able to rotate the tool along the yaw/z so the tool is no longer in the way.

Code:

SetPose(rotz(0))
... moves along first part of path
SetPose(rotz(180))
... continues along path after rotating

[Alex]

RoboDK can add rotations around z to automatically avoid collisions in a path.

You will need to enable "Allow automatic collision avoidance" in Tools → Options → CAM.

After this, you need to enable collision avoidance in your machining project. You will need to configure the degrees for "Allow a tool rotation of +/-"  and the steps that the rotation will take for the rotation.

With the API you can change the Machining parameters through the method setMachiningParameters()

[Kenn_Tran]

Does this option only work when there are other models/obstacles in the station? Wouldn't it be better give the freedom to change the z rotation in situations where robots will need to rotate along the z?

[Albert]

This option works automatically and by default when the robot is unable to reach the targets along the path (by default, RoboDK will try changing the orientation of the tool by +/-180 deg around the Z axis by steps of 20 deg, you can change this setting).

If you can provide us with your RoboDK project we may be able to guide you better.

[Kenn_Tran]

Hey Albert, for some reason I cannot attach the project? The website just times out everytime I try to do it.. Is it alright if I send it through email?

[Albert]

Yes sure, feel free to contact us through our contact form:
https://robodk.com/contact

[Kenn_Tran]

Hey Albert, I sent an email on Monday. Just wondering if there's any updates?

[Albert]

I just got back to you. I'm sorry for the delays.