[joebgold]

Hey RoboDK,

Would you be able to inform me about how to set the approach or retract for a program to [0,0,+Z] through the API. I attempted using XYZ with 0 0 {value} however this ended up being the XYZ relative.

Thanks

[Albert]

We just updated RoboDK to support setting both relative and absolute offsets of your robot machining projects using the RoboDK API.

Similar to your other question here:
https://robodk.com/forum/Thread-Setting-...hrough-API

You can now do something like this to add relative XYZ and absolute XYZ movements respectively:

Code:

from robolink import *
RDK = Robolink()
m = RDK.Item('', ITEM_TYPE_MACHINING)
print(m.setParam("ApproachRetract", "XYZ 10 20 100 ; AbsXYZ 0 0 200"))

[joebgold]

Hey Albert,

Thanks for the information. I have updated and tested this however XYZ Abs is not the functionality that I am looking for. I am specifically looking to use the [0,0,+Z] approach option through the API to get the desired response. Can you let me know how to set the [0, 0, +Z] approach through the API?

This is the result from XYZ Abs (incorrect)
   


This is the result from [0, 0, +Z] (requried)
   

[Albert]

You should then use a relative XYZ (same as 0,0,+Z). Example:

Code:

from robolink import *
RDK = Robolink()
m = RDK.Item('', ITEM_TYPE_MACHINING)
print(m.setParam("ApproachRetract", "XYZ 0 0 100"))

[joebgold]

Hey Albert,

Thanks for the information though this has assisted in identifying an issue that I hadn't noticed. The goal with this was to obtain an approach that would be relative to the robot's reference frame such that it would move in its own +Z for the approach and retract. While the relative XYZ would work for standard parts, a large portion of the parts that we are using through this project are designed in CAD in the +X direction meaning that they are rotated to face upwards in RoboDK. Since this occurs, the relative XYZ (as expected) provides an approach relative to the original part Z axis which does not align with the robot Z axis. Can an approach be added or are there any approaches available that would provide a robot relative Z axis approach?

Thanks,

Joseph