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Guidance on Multi-Robot Synchronization and TCP Pose Sharing in RoboDK

Thu, 11 Jun 2026 11:22:20 +0000

Hi everyone,
I am working on a dual-cobot needle handover task in RoboDK using two JAKA robots (Zu7 and Zu12).
I wanted to ask:

Can two physical JAKA robots be connected and controlled simultaneously through RoboDK?
What is the best way to synchronize them during a handover task?
Is it possible to share the real-time TCP pose (position and orientation) of one robot with the other so that it can adjust its motion accordingly?

Any advice, examples, or relevant documentation would be greatly appreciated.
Thank you.

Guidance on Multi-Robot Synchronization and TCP Pose Sharing in RoboDK

Thu, 11 Jun 2026 11:16:42 +0000

Hi everyone,
I am working on a dual-cobot needle handover task in RoboDK using two JAKA robots (Zu7 and Zu12).
I wanted to ask:

Can two physical JAKA robots be connected and controlled simultaneously through RoboDK?
What is the best way to synchronize them during a handover task?
Is it possible to share the real-time TCP pose (position and orientation) of one robot with the other so that it can adjust its motion accordingly?

Any advice, examples, or relevant documentation would be greatly appreciated.
Thank you.

Custom Mechanism Gripper Detaches Along with Object When Using 'Detach

Wed, 10 Jun 2026 10:40:14 +0000

Hi everyone,
I am working on a dual JAKA cobot project in RoboDK and have designed a custom two-finger gripper using RoboDK's Mechanism Builder. The gripper functions correctly and is attached to the robot as shown in the attached video.
However, I am facing an issue when using RoboDK's Attach to Tool and Detach from Tool instructions.
When the robot picks the needle, the attachment works as expected. However, during the release operation, when I execute the Detach from Tool instruction, RoboDK not only detaches the needle but also detaches the entire gripper mechanism from the robot.
The gripper was created using the Mechanism Builder and is saved/loaded as a mechanism (robot) rather than a standard tool. My current station tree and behavior can be seen in the attached video.
Could someone please help me understand:

Why is the gripper also being detached when I only want to release the needle?
Is my station tree structure correct for a custom gripper created using the Mechanism Builder?
Should the picked object be attached directly to the robot tool frame rather than becoming a child of the mechanism?
Is there a recommended way to implement object handover when using custom mechanism-based grippers?
Would using the RoboDK Python API (for example, setParentStatic) be a better approach than the built-in Attach/Detach instructions for this type of application?

The attached video shows the exact behavior. Any guidance on the correct station structure or object attachment method would be greatly appreciated.

Thank you.

Screenshot 2026-06-10 113732.png (Size: 500.23 KB / Downloads: 4)

Borunte 1820a - Error in trajectory execution.

Tue, 09 Jun 2026 20:25:03 +0000

Boa tarde.

Estou tendo problemas com o robô Borunte 1820a.

Consiga-me comunicar com ele e fazê-lo funcionar corretamente. No entanto, ao gerar uma operação de usinagem, ele apresenta um erro e não especifica qual é; somente o driver pode informá-lo.

Notei o seguinte: se eu salvar um alvo e enviá-lo para o robô Borunte, ele envia as coordenadas no modo de junta. Mas se for uma operação de usinagem, ele não envia no modo de junta.

Entrei nas configurações e defini tudo para o modo conjunto, mas não fez diferença alguma.

Vou enviar dois arquivos: um apenas com o objeto alvo e outro com a operação de usinagem.

1.zip (Size: 3.13 KB / Downloads: 7)

2.zip (Size: 8.85 KB / Downloads: 7)

How to Exchange Data Between Two Robots for Synchronized Motion in Rob

Tue, 09 Jun 2026 17:45:55 +0000

Hi everyone,
I am working on a dual JAKA cobot project in RoboDK where two robots need to collaborate to pass a needle through a narrow opening. The final objective is for one robot to hand over the needle to the other while maintaining synchronization and avoiding collisions.
Before implementing the handover logic, I would like to understand the best way to exchange information between robots in RoboDK.
My questions are:

How can Robot A share its position, target, or status information with Robot B during simulation?
Is there a way for one robot's movement to be dependent on the actual position or state of the other robot?
What is the recommended approach for synchronized dual-robot motion in RoboDK?
Can this be achieved using RoboDK programs only, or is Python scripting required?
Has anyone implemented robot-to-robot handover tasks where the second robot waits for the first robot to reach a specific pose before continuing its motion?
For future deployment to real robots, what would be the best practice for coordinating motion and exchanging data between two collaborative robots?

I would appreciate any examples, tutorials, or recommendations for dual-robot synchronization and robot-to-robot handover applications.
Thank you.

Dual-Cobot Needle Handover Through Narrow Opening – RG6 Gripper and At

Tue, 09 Jun 2026 14:23:37 +0000

Hi everyone,
I'm currently working on a dual-cobot synchronization task in RoboDK where two collaborative robots need to pass a needle to each other through a narrow opening. The robots are JAKA cobots.
I have already imported both robots, created the cell layout, and modeled the narrow opening through which the needle must be transferred.
For the gripper, I am using an RG6 gripper and added custom two-finger functionality. However, I have a few questions regarding the setup:

When I import the RG6 gripper, RoboDK imports it as a robot rather than as a tool. Is there a recommended way to correctly configure an imported gripper as an end-effector/tool?
To work around this, I attached the tool frame to the robot flange and then made the imported gripper (which appears as a robot) a child of that tool frame. Is this the correct approach, or is there a better method?
During the handover operation, when I detach the needle from the gripper using Attach/Detach instructions, RoboDK also detaches the gripper itself from the robot. I only want the needle to be released while the gripper remains attached to the robot. How should I structure the station tree or attachment setup to achieve this correctly?

Any guidance, examples, or recommendations for robot-to-robot handover simulations would be greatly appreciated.
Thank you!

IconSet Example

Mon, 08 Jun 2026 22:46:46 +0000

There is a good chance that I am misunderstanding what the "IconSet" command does. I am hoping that it will change the icon next to the instruction in the station. Like this...

2026-06-08 16 39 32.png (Size: 7.11 KB / Downloads: 22)

I have tried this command:

Code:
currentProg.Instruction(n).setParam('IconSet', "C:/images/LargeNext.png")

Do I need to resize the icon? I attached the file. I was hoping that Qt would handle the scaling.

Thanks for your help,
Henry

LargeNext.png (Size: 2.57 KB / Downloads: 10)

how to use external axes with motoman dx100

Mon, 08 Jun 2026 16:37:28 +0000

Im trying to use two external axes with my motoman dx100 robot. Im using the synchronize axes tool which works fine. Though whenever i go to connect to the robot i get an error saying 7 axes are not supported

Elite CS612 imports RoboDK waypoints as invalid

Fri, 05 Jun 2026 23:53:26 +0000

Hello,
I am currently using RoboDK to generate programs for an Elite Robots CS612 controller and I am experiencing an issue where all generated waypoints are imported as invalid (yellow) on the controller.

System
Robot: Elite Robots CS612
Controller software: 2.13.3.0 (Build 2025-03-28)
RoboDK: 6.0.4.26866 (64 bit)
Postprocessor: Elite Robots CS

Problem
The RoboDK simulation is completely correct.
The generated task can be imported into the Elite controller without errors, but all waypoints appear yellow and cannot be executed.
When I manually press "Set Waypoint" on the controller, the waypoint immediately becomes valid (blue).
This suggests that RoboDK generates incomplete waypoint definitions which the controller refuses to validate automatically.

Investigation
Waypoint generated by RoboDK
Inside

Code:

RoboDK generates:

Code:

There is no

Code:

entry.
Also:

Code:

Same waypoint after pressing "Set Waypoint" on controller
The controller rewrites the waypoint and creates:

Code:

and

Code:

After this modification the waypoint becomes valid and executable.

Additional observations
The generated task already contains:

Code:
Basis_KS

Tool_1

and the generated configuration contains:

Code:

as well as:

Code:

So the frame and TCP information seem to exist in the exported project.

Tests already performed

Generated targets as Cartesian targets
Generated targets as Joint targets
Changed

Code:
MOVEJ_POSITION_TYPE
from 0 to 1
Tested different TCP definitions
Generated a completely new RoboDK station from scratch
Imported manually created controller programs and compared XML

The issue remains the same.

Question
Has anyone successfully generated

Code:
.task

programs for an Elite Robots controller running software 2.13.x?
Is there a known incompatibility between RoboDK 6.0.4 and Elite controller software 2.13.x, or is the postprocessor missing required fields such as

Code:
toolPose

Code:
flangePose

Code:
baseToFrame

values?

Attached files

TestStation.rdk → minimal RoboDK station containing the CS612 and 3 waypoints
CS_Code.txt containing:
KI_PR.task → task generated by RoboDK
KI_PR.configuration → configuration generated by RoboDK
KI_PR_from_CS612.task → same task after manually pressing "Set Waypoint" on the controller
Yellow_Waypoints.png → screenshot showing all imported waypoints as invalid (yellow)

The manually updated task can be executed correctly, while the RoboDK-generated task cannot.
Comparing both task files shows that the controller automatically inserts additional information (toolPose, flangePose and baseToFrame values) when "Set Waypoint" is pressed.

I can provide any additional files, logs or test projects if needed. The issue is currently blocking my master's thesis work, so any help would be greatly appreciated.

Any help would be greatly appreciated, as this issue is currently blocking my master's thesis project.
Thank you.

  TestStation.rdk (Size: 811.27 KB / Downloads: 10)

  Yellow_Waypoints.png (Size: 722.33 KB / Downloads: 13)

  CS_Code.txt (Size: 27.17 KB / Downloads: 16)

OMRON TM12S moveL issue

Thu, 04 Jun 2026 02:34:47 +0000

Whenever I create a program using MoveJ commands, the robot is able to follow the simulation correctly and carry out the program. However, when I use MoveL commands the robot does not follow the simulation correctly and the joints don't move in a perfect linear motion. I tested this using the same program targets i just changed the movement. Do you know why this happens? I am quite new to RoboDK so I'm not sure how to troubleshoot this issue.

Change RoboDK light display options

Wed, 03 Jun 2026 14:22:56 +0000

Hello,

Is it possible to change the light rendering settings ?
I have a setup that is hard to display because of the light shading in the application.

I would like to turn off or tune the light settings so the part faces are more visibles.
Do you know how i could do it ?

Thank you.

Screen Recording.mp4 (Size: 869.02 KB / Downloads: 15)

RoboDK for Denso Driver: APIDENSO

Mon, 01 Jun 2026 13:35:28 +0000

I have recently picked up a project again and am having issues connecting to the RC8 controller with RoboDK. I was able to connect to a different RC8 controller previously, but I took a 1-year break from the software and received a new controller in the meantime. I know my IP address is correct because I can connect this new controller and operate my Denso using the Denso WincapsIII software. I want to verify that the Desno driver in RoboDK is correct, but I have been receiving this error (posted picture) on several different computers when trying to open the Apidenso driver to ensure it is configured correctly for my RC8 controller. I have also tried to open several other .exe files and received similar or other errors as posted.

I have gone through several Updates and driver downloads as suggested by Google. Any help would be appreciated.

  Screenshot 2026-06-01 092222.png (Size: 27.81 KB / Downloads: 16)

  Screenshot 2026-06-01 093304.png (Size: 28.59 KB / Downloads: 16)

Splitting a large program at certain points

Wed, 27 May 2026 22:48:22 +0000

Hello,

We are going to run a milling program on an old Fanuc controller. The program will have to be split into smaller pieces in order to fit into the controller. I know that RoboDk can do this splitting - we have done it on previous projects.

Here is the twist... I need to split the program during a retraction so that the cutter does not sit on the material and leave a mark. My first plan (which is my only plan) is to insert some special comment instructions where I want to split the program and then have Python go through and chop it up. Probably making a copy of the initial program, deleting the extra movement instructions, then repeating for how many pieces it needs.

Have you had to do this before? Is there an easier way? I have a habit of just doing everything with Python, but if there is a better way I would certainly give it a try.

Thank you for your suggestions.

problem with loading ALL.PRM

Wed, 27 May 2026 14:05:11 +0000

issue with loading ALL.PRM files for motoman robot on linux version of robodk

whenever i try to load my ALL.PRM files for robodk i get a python error. This issue does not happen on windows version though.

screenshot.png (Size: 26.38 KB / Downloads: 44)

Forcing the positioner to handle rotation

Tue, 26 May 2026 14:32:28 +0000

For additive manufacturing applications with a 6-axis robot + positioner, it is desirable to keep the torch vertical. The robot axes carry out torch translation and the positioner handles the orientation of the part relative to the torch. I cannot get this output out of RoboDK. I followed a previously posted example but it didn't work. I have attached a sample file. Any help would be appreciated.

Spin The Positioner.rdk (Size: 2.5 MB / Downloads: 24)