[pamuobe]

Hello, I found the following issue when copy-pasting a target in RoboDK.

I define a PickFrame and a Pick target in the same position as the PickFrame: (XYZABC) = zeros

   

I define a PlaceFrame in another location.
If I create a target in (XYZABC) = zeros, the robot axis updates accordingly.
But if I copy-paste the Pick target from the PickFrame into the PlaceFrame and rename to Place, the robot moves correctly (with the PlaceFrame as reference) but the robot axis are not updated:

   

When I generate a robot program for the real Kuka KR 3 R540, the movement is generated with the wrong robot axis.

I attach the rdk program so you can test by yourself.

Best regards.

[Dhruti]

Hey there! Since you are using a Cartesian Target instead of a Joint Target, it retained the original values of Robot Joints after copy-pasting. I would recommend you to try using Joint Targets as they are more versatile, while being independent of reference frames.

For more clarification -
     - Cartesian Targets are defined by the robot's TCP (Tool Center Point) position and orientation (hence, not related to its joints directly!).
     - Joint Targets, on the other hand, are solely defined by the specific joint angles of the robot's axes (therefore, these are more reliable).

You can right-click on your target and simply select the Joint Target option (the target icon changes from red to green).
   

Then, make sure to edit the target's XYZABCs to zeroes again.
   

You can also automatically calculate all the targets in a program by right clicking on a program and selecting "Recalculate Targets". This action updates the joint values for Cartesian targets in the program and updates the targets accordingly. You can do this by default every time you generate a program by changing this setting:
Select Tools-Options-Program and check the option "Recalculate Targets before generation".
   

I would also like to invite you to register onto RoboDK Academy. We have many courses that can help you to learn basic concepts and additional features provided by our software! https://robodk.com/academy

[pamuobe]

Thanks Dhruti, your solution is a good workaround, but I think we should have the option of copy-pasting as I did and RoboDK should update de joint values accordingly. It is a proposal for a possible update.

Best regards.