[b05611018]

I'm curious about what is timing that the project append the program event. Is there any document specify the timing that project append the program event? Is it possible to customized append those events?

In my case, I want to add some customized function between onPathStart and onPathFinish. The behavior is different when the non-zero value is set to "Point Approach" versus a zero. If I set zero, the onPathStart would be append before the target point I generated from Fusion3D. In other hand, the target point would be appended between onPathStart and onPathFinish. Is it possible to use python API to tune the project behavior?

I generated the robot program by P13 in my RDK file.

[Albert]

For a curve follow project, the on Path Start and Path Finish events happen before and after going through each curve (not accounting for the approach).

For a point follow project, the on Path Start and Path Finish events happen before the approach of the first point and after the retract of the last point respectively.

You can modify programs in RoboDK using the API. You can find an example here:
https://robodk.com/doc/en/PythonAPI/exam...structions

You can customize program events and triggers with your programs as well in your post processor:
https://robodk.com/doc/en/Post-Processors.html#EditPost

[b05611018]

Hi Albert,

Thanks for your reply.

I expect the onPathStart and onPathFinish events to occur before the approach movement to the first point and after the retract movement from the last point, respectively. I also expect the instruction related to the point object to be placed between these two events. However, in my case, if I don’t set a value for the “Point Approach” field, the point command ends up outside of these two events.

I update the attached RDK file. You can see the different settings in "P13 Settings" and "P14 Settings".  The only difference between them is the Point Approach setting.

This line of code refers to the instruction generated for the point object.

Code:

r.MoveL(p(167,120,-20,0,-90,0),[-5.45733,30.9788,11.0137,-8.12685,-42.2802,6.03103],[0,0,1])