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Staubli VALTrack and Offline programming


I have a question concerning offline programming of a staubli robot. When using VAL3 directly, It is possible to assign a target to a moving frame relative to the robot (tracking object on a conveyor for example). Is there any way to generate an offline program from RoboDK cable of doing so?

If i got it right, it is easy to do so in simulation once the moving frame is simulated. Which means that online programming of the robot using RoboDK may do the job (some synchronisation scripting will be needed). Am I right?

Thanks a lot!
For simulation purposes, this works fine.
With the driver, you will have some timings to do as you need to synchronize with the real conveyor.
With the post, you need something to update the moving frame (PLC or internal routine, for instance).
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