[croemheld]

Hello,

I've been using RoboDK for generating programs through the Python API. The approach is as follows:

1. Get points on a surface that resembles a curve put together
2. Follow the curve defined by the points using a spline block

The confusing thing is that the curve seems to be perfectly followed when sending MoveL instructions within the spline block, but when importing the later generated program using these instructions, the robot seems to move entirely different (the curve is not being followed anymore, but rather it just does a straight line from the first to the last point. This makes it very difficult to verify if the generated program is actually correct.

In addition, the pose of the tool also does not match the simulation shown before the generated program is finished. The pose is supposed to orient itself on the normals of the surface (when I add the points with normals info to RoboDK, the normals are shown correctly), but the generated program, after importing it, only has a correct orientation at the beginning and stays perfectly level at the top of the path.

I attached a screenshot to this post as well as the generated program in question.

The yellow lines are the path followed after the generated program is imported and run, the red arrows show how it is supposed to run (and it does do that when the MoveL instructions are running in the spline block, before the generated program is saved to disk).


I hope you can help me out determining if this is an issue on my side or something else!

   


  Spline_Path1to3.src (Size: 35.4 KB / Downloads: 151)

[croemheld]

In addition, the pose of the tool also does not match the simulation shown before the generated program is finished. The pose is supposed to orient itself on the normals of the surface (when I add the points with normals info to RoboDK, the normals are shown correctly), but the generated program, after importing it, only has a correct orientation at the beginning and stays perfectly level at the top of the path.

This part of the opening post has been cleared, this was a mistake on my side. Though the remainder of the post is still a current concern for which I do not have a solution to yet.

[croemheld]

The confusing thing is that the curve seems to be perfectly followed when sending MoveL instructions within the spline block, but when importing the later generated program using these instructions, the robot seems to move entirely different (the curve is not being followed anymore, but rather it just does a straight line from the first to the last point. This makes it very difficult to verify if the generated program is actually correct.

[...]

I attached a screenshot to this post as well as the generated program in question.

The yellow lines are the path followed after the generated program is imported and run, the red arrows show how it is supposed to run (and it does do that when the MoveL instructions are running in the spline block, before the generated program is saved to disk).

So it turns out that RoboDK does not show the result of spline blocks or SPL instructions. Each of the SPL instructions are simply listed as instructions, but RoboDK directly skips the entire spline block and only executes the MoveL instruction after the spline block, which is the reason why there is a direct move from the start of the path straight to the retraction point after the curved path ends.

Is there a reason RoboDK cannot show the movements of the robot when a spline block occurs in the imported program?

In addition, the pose of the tool also does not match the simulation shown before the generated program is finished. The pose is supposed to orient itself on the normals of the surface (when I add the points with normals info to RoboDK, the normals are shown correctly), but the generated program, after importing it, only has a correct orientation at the beginning and stays perfectly level at the top of the path.

As mentioned in the first reply, this part was a mistake of mine.

[Albert]

Thank you for letting us know. As you confirmed, SPL commands are not imported as linear movements with the current version. With a future version we'll make sure they are still imported as movements.

Please note that while we do our best to allow importing robot programs in RoboDK, this feature is mostly meant to extract movements. As you can customize post processors in many different ways, the export/import is not always reversible.

For your infomration, we have a sample script that shows how you can customize the import of SRC files in RoboDK:
https://robodk.com/doc/en/PythonAPI/exam...a-src-file

[croemheld]

Thank you very much for confirming this! I will be having a look at the sample script you provided!