[alejho]

Hi all,

I was wondering if it was possible to control a generic robot in RoboDK from an "external" kinematics defined in CODESYS.
To be more clear the kinematics of my 6 axis robot is defined in a CODESYS application and I want to send the  reference position axis by axis to the 3D model in RoboDK to see if it is moving correctly.

Thank you for any kind of help or reference.

Alejho

[Albert]

Yes, you can use RoboDK to monitor the position of your robot in real time.

If you want to model the robot kinematic yourself you may need to do some calculations based on the DH or DHM table of your robot. You can see an example here:
C:/RoboDK/Library/Example-09.a-Script-Model Robot DH-DHM Mirror Test - ABB IRB 120.rdk

On the other hand, if you model the robot in RoboDK you can update the joint values and use the setJoints robot command of the API to update the joint values.

[alejho]

Hi Albert,

Thank you for the quick reply.
So basically I'll have to add some sort of script between the CODESYS runtime and RoboDK to update the model position ciclically with SetJoints().

I was hoping for something less articulated like OPC UA or shared memory that are supported by CODESYS but it's ok...I'll give it a go.
Thank you again!

[Albert]

There is actually an OPC-UA addin that allows you to stream the position of your robot joints from an OPC-UA client:
https://robodk.com/doc/en/OPC-UA.html

This plugin is open source and can be customized to specific needs. You can find the source here:
https://github.com/RoboDK/Plug-In-Interf...gin-OPC-UA