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Fairino post processor, V3.9.7 updates

Tue, 30 Jun 2026 23:58:25 +0000

Hello,

In attempting to troubleshoot the attached program error on a Fairino cobot controller I noticed that the existing Fairino post uses a different command syntax than the most recent (V3.9.7, updated 6/25/2026) Lua script manual as found here: https://fairino-doc-en.readthedocs.io/la...intro.html

Specifically, SetToolCoord and SetWObjCoord are not referenced in the new manual, and while these commands are referenced by prior versions of the Lua manual, the function structure does not appear to match either.

Would you mind verifying if the Fairino (not Fairino db) post processor needs updating, and if this might be the source of my error? Thanks very much.

Screenshot 2026-06-30 164755.png (Size: 1.42 MB / Downloads: 2)

Build Mechanism Frame and Axis Error

Tue, 30 Jun 2026 17:38:08 +0000

Hello, Shout out to Albert, thank you for your support of this community. I have two issues when building a mechanism. 1) When I create a mechanism, the frame is moved, 1000 in the Y direction for my reference frame. I do not want this frame to move, how do i stop this. 2) I am creating a 5 axes (generic) mechanism. I have correctly mapped the axes travel direction and pan/tilt when previewing the unit via update. When I click Ok, and create the unit, my axis travel direction changes. v6.0.4 (64 bit). Attachments: 1-Frame_Movement, 2-Tonys_Build_Mech_Settings, 3-Mech_w_correct_job_before_ok, 4-incorrect_axis_after_ok

Thank you for the support.
Tony

  4-incorrect_axis_after_ok.jpg (Size: 341.62 KB / Downloads: 3)

  3-Mech_w_correct_job_before_ok.jpg (Size: 346.43 KB / Downloads: 3)

  2-Tonys_Build_Mech_Settings.jpg (Size: 128.88 KB / Downloads: 4)

  1-Frame_Movement.jpg (Size: 169.24 KB / Downloads: 4)

Questions TCP XYZ by plane method

Tue, 30 Jun 2026 10:23:30 +0000

Hi,

I have some questions about the TCP calibration by XYZ plane method. I usually use 4 point method with teaching spikes and the controller's builtin calibration method. In order to improve the calibration I am now using a probe and RoboDK however the I am surprised to see the result is worse.

Should the same point on the plane be touched or should the different postions be as far apart as possible?
When using an ABB robot with AbsAcc should poses or joints be used to feed the calibration data to RoboDK?

Thank you in advance.
Best

KUKA Post Processor modification to include subprograms not working

Thu, 18 Jun 2026 15:42:30 +0000

Hello all.

Didn't managed to find a topic on this so sorry if this has already been discussed.

I am working on a kuka robot with KRC4 post processor.

I modified it as follows :

Code:
  # Set to True to include subprograms in the main program. Otherwise, programs can be generated separately.

    INCLUDE_SUB_PROGRAMS = True    # Set to True to include subprograms in the same file

    # Generate subprograms as new files instead of adding them in the same file (INCLUDE_SUB_PROGRAMS must be set to True)

    SUB_PROGRAMS_AS_FILES = False

so that when i generate my main program all the instructions are included instead of having multiple calls (I need this for a specific project).

The issue is that the program thus generated has DEF ... instructions for every program included, which gives errors. How can I solve this issue (without modifying manually the program)?

Thanks

Vision-Based Robot-to-Robot Needle Handover Using OnRobot Eyes Camera

Mon, 15 Jun 2026 11:05:22 +0000

Hello everyone,

I am currently working on a robot-to-robot needle handover project in RoboDK using two JAKA cobots (Zu12 and Zu7). I have attached an OnRobot Eyes camera to the end effector of the Zu12 robot alongside a custom two-finger gripper.

The goal is to perform a synchronized needle handover through a narrow opening. I have already implemented the basic handover sequence using predefined targets and synchronization logic, but I am now exploring vision-based decision making.

My idea is that as Robot A approaches the handover position, the camera monitors Robot B and determines when it has successfully grasped the needle. Only then would Robot A release the needle and move away. Later in the cycle, Robot B would return the needle and Robot A would use vision again to determine when the needle is in a suitable position for re-grasping.

I am also considering a second approach where the camera is mounted above the workcell, providing a top-down view of both robots and the handover area, instead of mounting the camera on the robot itself.

My questions are:

Is this type of vision-guided robot-to-robot handover possible using the simulated OnRobot Eyes camera in RoboDK?
Would an eye-in-hand setup (camera on the robot) or an overhead camera be more suitable for this application?
Can the simulated camera provide useful depth information for detecting successful grasping and object transfer?
If I want to use machine learning or object detection, can RoboDK be used to generate training data from the simulated camera, or would I need to train and validate using images from the actual OnRobot Eyes camera?

I am relatively new to RoboDK and still exploring its vision capabilities, so any guidance, recommendations, or examples would be greatly appreciated.

Thank you.

Dobot E6 is not properly modelled

Sun, 14 Jun 2026 09:18:28 +0000

I am currently working on Dobot Magician E6 robot with educational license of RoboDK. I have connected the robot to RoboDK using TCP mode, also I am using a suction cup I have also created the work station and tool with exact dimensions, and my tool is simply creating a z direction offset hence I am not using Tool Center positioning (I have used Tool Center positioning before it shows the exact value with minor decimal offset).

My problem is that when I try to use 'Run on Robot' it moves the robot exactly like simulation but it then collides or does not reach the point it is supposed to be at first (here I have used manual jog to see where my robot lands when I try to bring him out to touch outer most corner but it doesnt shows up in software).

I though I may have not calibrated the robot correctly so I ran a calibration using Dobot studio and then on RoboDK for TCP using 8 points while removing all the points with high error on the graph then also the error persists and also I am seeing huge difference between the cordinates between RoboDK and Dobot studio which might be the reason that it is showing the errors also the joint angle and base cordinate reference is same for both software then the x y z cordinates should also be same but it isnt please help RoboDK team.

dobot_e6.rdk (Size: 683.1 KB / Downloads: 31)

Robodk_objects-20260614T153801Z-3-001.zip (Size: 663.28 KB / Downloads: 32)

Multi-Robot Synchronization and TCP Pose Sharing

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.

Custom mechanism gripper detaches along with object

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

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: 52)

Borunte 1820a error with 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: 35)

2.zip (Size: 8.85 KB / Downloads: 36)

How to Exchange Data Between Two Robots for Synchronized Motion

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

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!

Creating a generic item and setting a custom icon in the tree

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: 56)

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: 52)

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: 45)

  Yellow_Waypoints.png (Size: 722.33 KB / Downloads: 46)

  CS_Code.txt (Size: 27.17 KB / Downloads: 34)

OMRON TM12S MoveL issues

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.