09-10-2026, 04:04 PM
Hello,
I have a question regarding patterns in RoboDK. I am going to be as specific as possible in my request.
I am able to have a simulation for what I want in RoboDK my problem is mainly in the the post process.
I am using the Motoman.py post processor with output in pulses.
I will attach the station below with the program.
To be able to do the simulation I just simply created other coordinate system and in the program I am calling the same target but in another coordinate system moved by the pattern (here Y=+100)
The robotic cell contains an external axis (2 axis positionner).
The simulation runs fine but when trying to export the program in Pulses I run into 2 problems.
The first one is easily fixable and I think is due to the presence of the external axis, but when I import Targets from a rhino grasshopper file (with Python API), targets are created and placed accordingly but all the joints value in the target are the same, an thus I have to manually double click on the target and press teach current position to have the target with the right joint values (only the 6 axis of the robot, the 2 axis positionner values are remembered)
If I don't do this when I output the program all the pulses values are the same.
This is ok and can easily be fixed with a python script.
The second problem I face is when patterning wiht a coordinate system, when exporting the program I have the same Pulse values, I kinda understand that the post process reads all the targets and there joints values and then calculates the pulses accordingly but then when the trajectory in simulation is moved, the outputed program is basically 5 times the same movement.
Is there an easy way of doing pattern without duplicating all the targets in space and creating the whole program with linked targets ?
Basically I want to be able to have the program ready and if some minor changes have to be made to the path I only have to modify 8 targets instead of all of them and the parametric is kept and then I can output the program.
How I am currently doing is I am outputing only the first instance of the program and then I do the loop with INFORM language inside the outputted program from post processor "Motoman.py" to pattern and I can visualise that there is no problem with RoboDK simulation making the pattern.
The only Problem I have doing this is in case the tooling is not extermely precise, only the first instance can be changed with the teach and ideally I would like to have all the instances of the program and modify some of them manually with the teach if needed.
I will also use this post for a question regarding targets linked, I want to keep the parametric from Rhino grasshopper and update in real time changes that are made within grasshopper, It works and rewrites the targets, it's also great because it can bedone with meshes, very practical for tooling variations.
Unfortunately the targets are "delinked" so to say in the program while they have the same name. Is there a way to re link all the targets direclty for a program.
Thank you so much for your time !
Arno Klocke
I have a question regarding patterns in RoboDK. I am going to be as specific as possible in my request.
I am able to have a simulation for what I want in RoboDK my problem is mainly in the the post process.
I am using the Motoman.py post processor with output in pulses.
I will attach the station below with the program.
To be able to do the simulation I just simply created other coordinate system and in the program I am calling the same target but in another coordinate system moved by the pattern (here Y=+100)
The robotic cell contains an external axis (2 axis positionner).
The simulation runs fine but when trying to export the program in Pulses I run into 2 problems.
The first one is easily fixable and I think is due to the presence of the external axis, but when I import Targets from a rhino grasshopper file (with Python API), targets are created and placed accordingly but all the joints value in the target are the same, an thus I have to manually double click on the target and press teach current position to have the target with the right joint values (only the 6 axis of the robot, the 2 axis positionner values are remembered)
If I don't do this when I output the program all the pulses values are the same.
This is ok and can easily be fixed with a python script.
The second problem I face is when patterning wiht a coordinate system, when exporting the program I have the same Pulse values, I kinda understand that the post process reads all the targets and there joints values and then calculates the pulses accordingly but then when the trajectory in simulation is moved, the outputed program is basically 5 times the same movement.
Is there an easy way of doing pattern without duplicating all the targets in space and creating the whole program with linked targets ?
Basically I want to be able to have the program ready and if some minor changes have to be made to the path I only have to modify 8 targets instead of all of them and the parametric is kept and then I can output the program.
How I am currently doing is I am outputing only the first instance of the program and then I do the loop with INFORM language inside the outputted program from post processor "Motoman.py" to pattern and I can visualise that there is no problem with RoboDK simulation making the pattern.
The only Problem I have doing this is in case the tooling is not extermely precise, only the first instance can be changed with the teach and ideally I would like to have all the instances of the program and modify some of them manually with the teach if needed.
I will also use this post for a question regarding targets linked, I want to keep the parametric from Rhino grasshopper and update in real time changes that are made within grasshopper, It works and rewrites the targets, it's also great because it can bedone with meshes, very practical for tooling variations.
Unfortunately the targets are "delinked" so to say in the program while they have the same name. Is there a way to re link all the targets direclty for a program.
Thank you so much for your time !
Arno Klocke
