[Jonatanlaz]

Hello,
I would need help from someone who knew how to call a program in Robodk, to run the program from a starting point that is different each time. It would be to make a loop but start it from different positions and that the values of the points that this program runs through were the same but with respect to the initial point of origin.
Thanks.

[Olivier]

You can call a program that set a new origin before calling the main program, that way the targets will be relative to the new origin. See the attached example.

[Jonatanlaz]

Thank you very much!! Another question I have... is there an option to automatically create the new frame displaced every time you run the program "Prog.1"? I need to run "Prog.1" many times and I don't want to have to create hundreds of frames.

[Jeremy]

Using the Python API would be the way there.

You can create all your frame and automatically create the main program exactly as Oliver did.
https://robodk.com/doc/en/PythonAPI/intro.html

Jeremy

[Jonatanlaz]

Thank you very much!!

[fmiller]

I am trying get to a similar result but move in a more weird way - like an arc (if possible keep certain joint angles).

Basically i want it to kinda wiggle up and down in  a faster manner while rotating slowly around the z.

I tried to hack the example above to get it to work but I failed miserably :)

I also found this one: https://github.com/RoboDK/RoboDK-API/blo...mSlider.py

But I feel like they both do the same thing. So is it even possible to have the wiggle up and down J2-3 (4) 5 in a loop while slowly rotating J1?

When I used the example above if i changed the linear subprogram to loop, it glitches  by moving super fast ...

[Olivier]

Can you be more specific about what you are trying to do?
Do you want the TCP to move up and down while J1 is slowly rotating or do you want the TCP to rotate around the Z axis while moving up and down?

[fmiller]

I want the tcp TCP to move up and down while J1 is slowly rotating
I got the wiggling move already:
https://www.youtube.com/watch?v=jVXIzourpL0
All i need it to do is to keep doing this in a loop, while slowly rotating J1
Thank you

[Olivier]

Here is a way you can do it in RoboDK.

I created an rotation mechanism that rotate a frame and I use the rotating frame as reference for the MoveJ, relative to the targets.