<![CDATA[RoboDK Forum - General questions about RoboDK]]>

<![CDATA[RoboDK Forum - General questions about RoboDK]]> https://robodk.com/forum/ Sat, 05 Sep 2026 05:33:44 +0000 MyBB <![CDATA[Simulating 7th axis on robot arm]]> https://robodk.com/forum/Thread-Simulating-7th-axis-on-robot-arm Thu, 03 Sep 2026 18:52:47 +0000 manan]]> https://robodk.com/forum/Thread-Simulating-7th-axis-on-robot-arm
We have a Foundry robot which pours molten metal from the ladle. The ladle is mounted on T-arm and ladle rotates around the axis at the end. See the attached image. I would like to simulate that 7th axis and simulate pouring motion. Is there a template or simulation file I can follow.

This link shows example of it: Rimrock® 7th Axis Ladle Robotic System

Thanks,

Manan

.png

PouringRobot.PNG (Size: 209.02 KB / Downloads: 3) ]]>
We have a Foundry robot which pours molten metal from the ladle. The ladle is mounted on T-arm and ladle rotates around the axis at the end. See the attached image. I would like to simulate that 7th axis and simulate pouring motion. Is there a template or simulation file I can follow.

This link shows example of it: Rimrock® 7th Axis Ladle Robotic System

Thanks,

Manan

.png

PouringRobot.PNG (Size: 209.02 KB / Downloads: 3) ]]> <![CDATA[Compensation of 5-axis with the calibration utility]]> https://robodk.com/forum/Thread-Compensation-of-5-axis-with-the-calibration-utility Fri, 28 Aug 2026 08:43:28 +0000 Marina]]> https://robodk.com/forum/Thread-Compensation-of-5-axis-with-the-calibration-utility
I created a station with a customized 5-axis robot. It consists of 3 linear axes (X; Y; Z) and 2 rotatory axes (C around Z and A around X).

I want to use the calibration utility from RoboDK for obtaining the measurements with a Leica laser tracker.

I can measure each point inside the calibration window, but for the "Base setup" and the "Tool setup" I cannot obtain the exact/calibrated position of the base of the robot (therefore the "Measurements Reference"), and the correct position of the reflector respect to the frange.

I already calibrated one robotic arm (6 axis) with this utility fron RoboDK, and the "Base setup" measurements and "Tool setup" measurements were so easy to define. Now that I have another type of robot, I always obtain a message like "measurements does not fit a circle".

How should I proceed now? Is there any way for obtaining the correct position of the "Measurement reference" and the position of the reflector respect to the flange?

Unfortunaly I cannot share my station due to privacity of the company.

I hope you can help me.

Thanks :)

Regards,
Marina]]>
I created a station with a customized 5-axis robot. It consists of 3 linear axes (X; Y; Z) and 2 rotatory axes (C around Z and A around X).

I want to use the calibration utility from RoboDK for obtaining the measurements with a Leica laser tracker.

I can measure each point inside the calibration window, but for the "Base setup" and the "Tool setup" I cannot obtain the exact/calibrated position of the base of the robot (therefore the "Measurements Reference"), and the correct position of the reflector respect to the frange.

I already calibrated one robotic arm (6 axis) with this utility fron RoboDK, and the "Base setup" measurements and "Tool setup" measurements were so easy to define. Now that I have another type of robot, I always obtain a message like "measurements does not fit a circle".

How should I proceed now? Is there any way for obtaining the correct position of the "Measurement reference" and the position of the reflector respect to the flange?

Unfortunaly I cannot share my station due to privacity of the company.

I hope you can help me.

Thanks :)

Regards,
Marina]]> <![CDATA[RoboDK Euler rotation order default choice]]> https://robodk.com/forum/Thread-RoboDK-Euler-rotation-order-default-choice Mon, 24 Aug 2026 16:47:44 +0000 majestic]]> https://robodk.com/forum/Thread-RoboDK-Euler-rotation-order-default-choice
What I want is ABB/KUKA order but it's always Staubli/Mecademic instead which make my work prone to errors.

Thanks!]]>
What I want is ABB/KUKA order but it's always Staubli/Mecademic instead which make my work prone to errors.

Thanks!]]> <![CDATA[Tool orientation follows path does not follow path direction]]> https://robodk.com/forum/Thread-Tool-orientation-follows-path-does-not-follow-path-direction Mon, 24 Aug 2026 08:13:07 +0000 Keisuke.Sakai]]> https://robodk.com/forum/Thread-Tool-orientation-follows-path-does-not-follow-path-direction Hello RoboDK Support,

I have attached the RoboDK project file for your review.
In my Machining Project settings, I selected "Tool orientation follows path" (see attached screenshot). However, the generated robot motion does not follow the path direction as expected. The robot follows the path geometry, but the tool orientation does not automatically rotate to align with the path tangent.

Issue Description

Algorithm: Tool orientation follows path
Expected behavior: The tool orientation should rotate and follow the travel direction along the path.
Actual behavior: The tool orientation does not align with the path direction during robot motion.

Could you please help me understand:

Whether additional settings are required to make the tool orientation follow the path direction.
Whether there are any limitations regarding the curve/path definition.
Whether the issue could be related to the reference frame or tool frame configuration.
If my project configuration contains any incorrect settings.

I have attached the project file and would appreciate it if you could review it and advise on the cause of this behavior.
Thank you for your support.

Best regards,
Keisuke Sakai

.rdk

AGVルート走行.rdk (Size: 2.91 MB / Downloads: 22) ]]> Hello RoboDK Support,

I have attached the RoboDK project file for your review.
In my Machining Project settings, I selected "Tool orientation follows path" (see attached screenshot). However, the generated robot motion does not follow the path direction as expected. The robot follows the path geometry, but the tool orientation does not automatically rotate to align with the path tangent.

Issue Description

Algorithm: Tool orientation follows path
Expected behavior: The tool orientation should rotate and follow the travel direction along the path.
Actual behavior: The tool orientation does not align with the path direction during robot motion.

Could you please help me understand:

Whether additional settings are required to make the tool orientation follow the path direction.
Whether there are any limitations regarding the curve/path definition.
Whether the issue could be related to the reference frame or tool frame configuration.
If my project configuration contains any incorrect settings.

I have attached the project file and would appreciate it if you could review it and advise on the cause of this behavior.
Thank you for your support.

Best regards,
Keisuke Sakai

.rdk

AGVルート走行.rdk (Size: 2.91 MB / Downloads: 22) ]]> <![CDATA[ROKAE Post Processor Compatibility Issue with RC v3.2.2]]> https://robodk.com/forum/Thread-ROKAE-Post-Processor-Compatibility-Issue-with-RC-v3-2-2 Wed, 19 Aug 2026 21:21:37 +0000 Jason25]]> https://robodk.com/forum/Thread-ROKAE-Post-Processor-Compatibility-Issue-with-RC-v3-2-2 Dear RoboDK teams

I am seeing a compatibility issue with RoboDK v6.0.6 and a ROKAE controller running RC v3.2.2.
My environment:

HMI: 5.0.13.0439
RC: 3.2.2
Update: 0.8.15

The program generated by the ROKAE post processor starts with:

Code:
MODULE line_test

GLOBAL VAR robtarget robpoint0 = p:{{532.000, 250.000, 806.000}, {0.707107, 0.000000, 0.707107, 0.000000}, 0}{cfg 0, 0, -1, 0, 0, 0, 0, 0}{Ej 0,0,0,0,0,0}

When I paste it into the ROKAE RL Editor, I get error 60000:

Code:
content: [60000] File: 【main.mod】, Line: 【1】Unrecognized tokens: MODULE; File: 【main.mod】, Line: 【2】Unrecognized tokens: 

; 

reason: RL instruction parameter error 

repair: Modify the instruction and enter the correct parameter.

]]> Dear RoboDK teams

I am seeing a compatibility issue with RoboDK v6.0.6 and a ROKAE controller running RC v3.2.2.
My environment:

HMI: 5.0.13.0439
RC: 3.2.2
Update: 0.8.15

The program generated by the ROKAE post processor starts with:

Code:
MODULE line_test

GLOBAL VAR robtarget robpoint0 = p:{{532.000, 250.000, 806.000}, {0.707107, 0.000000, 0.707107, 0.000000}, 0}{cfg 0, 0, -1, 0, 0, 0, 0, 0}{Ej 0,0,0,0,0,0}

When I paste it into the ROKAE RL Editor, I get error 60000:

Code:
content: [60000] File: 【main.mod】, Line: 【1】Unrecognized tokens: MODULE; File: 【main.mod】, Line: 【2】Unrecognized tokens: 

; 

reason: RL instruction parameter error 

repair: Modify the instruction and enter the correct parameter.

]]> <![CDATA[MoveJ Commands Generated by the URP Post Processor]]> https://robodk.com/forum/Thread-MoveJ-Commands-Generated-by-the-URP-Post-Processor Tue, 18 Aug 2026 23:56:56 +0000 Keisuke.Sakai]]> https://robodk.com/forum/Thread-MoveJ-Commands-Generated-by-the-URP-Post-Processor Dear Support Team,

I would like to inquire about the generation of MoveJ instructions by the Universal Robots URP post processor.
Environment:

Post Processor: Universal Robots URP
RoboDK Version: v6.0.4 (64-bit)

During program generation, MoveJ instructions are inserted in certain locations.
However, I have verified that the generated program still runs correctly even after manually removing those MoveJ instructions.

Therefore, I would like to understand the reason why these MoveJ instructions are being generated.
Could you please clarify:

Under what conditions the URP post processor inserts MoveJ commands
Whether these MoveJ commands are intended to ensure safety, reachability, or robot configuration consistency
Or whether unnecessary MoveJ commands may be generated in some cases

I have attached the relevant program for your review.
Thank you for your support.

Best regards,
Keisuke Sakai

.png

スクリーンショット 2026-08-19 085632.png (Size: 275.16 KB / Downloads: 33) ]]> Dear Support Team,

I would like to inquire about the generation of MoveJ instructions by the Universal Robots URP post processor.
Environment:

Post Processor: Universal Robots URP
RoboDK Version: v6.0.4 (64-bit)

Under what conditions the URP post processor inserts MoveJ commands
Whether these MoveJ commands are intended to ensure safety, reachability, or robot configuration consistency
Or whether unnecessary MoveJ commands may be generated in some cases

I have attached the relevant program for your review.
Thank you for your support.

Best regards,
Keisuke Sakai

.png

スクリーンショット 2026-08-19 085632.png (Size: 275.16 KB / Downloads: 33) ]]> <![CDATA[Joint movement using cartesian targets is not supported for Fairino robot]]> https://robodk.com/forum/Thread-Joint-movement-using-cartesian-targets-is-not-supported-for-Fairino-robot Tue, 18 Aug 2026 23:47:48 +0000 Keisuke.Sakai]]> https://robodk.com/forum/Thread-Joint-movement-using-cartesian-targets-is-not-supported-for-Fairino-robot Hi RoboDK teams,

I encountered the following error while generating a program for the FAIRINO FR3MT robot in RoboDK:

Quote:Joint movement using cartesian targets is not supported. Change the target type to joint or use a cartesian movement.

Environment:

RoboDK Version 6.0.1
Robot: FAIRINO FR3MT

Program structure:

MoveL(Target 1)
MoveJ(Target 2)

The MoveL instruction is generated correctly, but the MoveJ instruction produces the above error.
Target 2 was intentionally created as a Joint Target in RoboDK. However, during program generation it appears to be treated as a Cartesian Target by the FAIRINO post processor.
Could you please clarify the following points?

Does the FAIRINO post processor support MoveJ only when the destination target is a Joint Target?
Is there any known issue where a Joint Target may be interpreted as a Cartesian Target during program generation?
Are there any RoboDK settings that should be checked (Reference Frame, Tool, Target Type, etc.)?
Could this be a limitation or bug in the current FAIRINO post processor?

A screenshot is attached for reference.

Thank you for your support.

Best regards,
Keisuke Sakai

.png

スクリーンショット 2026-08-19 084146.png (Size: 165.79 KB / Downloads: 30)

.rdk

test.rdk (Size: 4.28 MB / Downloads: 26) ]]> Hi RoboDK teams,

I encountered the following error while generating a program for the FAIRINO FR3MT robot in RoboDK:

Quote:Joint movement using cartesian targets is not supported. Change the target type to joint or use a cartesian movement.

Environment:

RoboDK Version 6.0.1
Robot: FAIRINO FR3MT

Program structure:

MoveL(Target 1)
MoveJ(Target 2)

Does the FAIRINO post processor support MoveJ only when the destination target is a Joint Target?
Is there any known issue where a Joint Target may be interpreted as a Cartesian Target during program generation?
Are there any RoboDK settings that should be checked (Reference Frame, Tool, Target Type, etc.)?
Could this be a limitation or bug in the current FAIRINO post processor?

A screenshot is attached for reference.

Thank you for your support.

Best regards,
Keisuke Sakai

.png

スクリーンショット 2026-08-19 084146.png (Size: 165.79 KB / Downloads: 30)

.rdk

test.rdk (Size: 4.28 MB / Downloads: 26) ]]> <![CDATA[How to use D415 with UR5 in simulation environment]]> https://robodk.com/forum/Thread-How-to-use-D415-with-UR5-in-simulation-environment Thu, 13 Aug 2026 10:11:44 +0000 jeanclaude]]> https://robodk.com/forum/Thread-How-to-use-D415-with-UR5-in-simulation-environment <![CDATA[Cannot find the frame for robot machining]]> https://robodk.com/forum/Thread-Cannot-find-the-frame-for-robot-machining Mon, 10 Aug 2026 01:20:49 +0000 b05611018]]> https://robodk.com/forum/Thread-Cannot-find-the-frame-for-robot-machining
When I opened the project next time, I noticed that the frames cannot be found in the machining settings. It only showed the new-created frame.

Is it a bug or I did something wrong?

.rdk

PraanaTech framework.rdk (Size: 2.4 MB / Downloads: 27) ]]>
When I opened the project next time, I noticed that the frames cannot be found in the machining settings. It only showed the new-created frame.

Is it a bug or I did something wrong?

.rdk

PraanaTech framework.rdk (Size: 2.4 MB / Downloads: 27) ]]> <![CDATA[Inserted custom code does not execute on robot]]> https://robodk.com/forum/Thread-Inserted-custom-code-does-not-execute-on-robot Fri, 07 Aug 2026 14:20:39 +0000 jheimann]]> https://robodk.com/forum/Thread-Inserted-custom-code-does-not-execute-on-robot
If I generate the robot program and copy and paste the code from VSCodium into Ufactory Studio and run it, the program works (gripper opens and closes). Why does it not work when running the program from RoboDK with the Run on Robot selected? This is a major detriment to debugging as I can't use my gripper at all.

Also, and much less important... when I select Send Program to Robot, it does not get put on my robot... where does it go and how do I get it to the robot?

.rdk

DEBUR Fusion Import rev 3.rdk (Size: 1.78 MB / Downloads: 44) ]]>
If I generate the robot program and copy and paste the code from VSCodium into Ufactory Studio and run it, the program works (gripper opens and closes). Why does it not work when running the program from RoboDK with the Run on Robot selected? This is a major detriment to debugging as I can't use my gripper at all.

Also, and much less important... when I select Send Program to Robot, it does not get put on my robot... where does it go and how do I get it to the robot?

.rdk

DEBUR Fusion Import rev 3.rdk (Size: 1.78 MB / Downloads: 44) ]]> <![CDATA[For loop in robodk V5.5.3]]> https://robodk.com/forum/Thread-For-loop-in-robodk-V5-5-3 Wed, 05 Aug 2026 08:49:13 +0000 Ninad Joshi]]> https://robodk.com/forum/Thread-For-loop-in-robodk-V5-5-3 I want to use For loop in the main program for running a specific code 7 times.
I wrote the following code in insert code command;

i = 1
FOR i = 1 TO 7

ENDFOR

I have enabled 'Enable Flow Control Statements' option in the station parameters.
After executing the program, I can not see i value incremented. It is showing error " SyntaxError: Expected token `,' "
How to solve this? Is this a version issue? And is there any documentation for how to use loops and conditional statements in the insert code command?

Any help would be appreciated. Thanks!!]]> I want to use For loop in the main program for running a specific code 7 times.
I wrote the following code in insert code command;

i = 1
FOR i = 1 TO 7

ENDFOR

I have enabled 'Enable Flow Control Statements' option in the station parameters.
After executing the program, I can not see i value incremented. It is showing error " SyntaxError: Expected token `,' "
How to solve this? Is this a version issue? And is there any documentation for how to use loops and conditional statements in the insert code command?

Any help would be appreciated. Thanks!!]]> <![CDATA[How to generate and load a program for Fairino robot]]> https://robodk.com/forum/Thread-How-to-generate-and-load-a-program-for-Fairino-robot Wed, 05 Aug 2026 01:20:19 +0000 rnaoki]]> https://robodk.com/forum/Thread-How-to-generate-and-load-a-program-for-Fairino-robot We have confirmed that the program runs correctly in automatic mode. However, when we attempt to move through the program point by point using manual (step-by-step) operation, a "null variable" error is displayed. As a result, we are unable to verify each point individually.
To help investigate the issue, I would like to send you the simulation data that we are using for the program transfer. Could you please review it and advise us on how to modify the program or settings so that step-by-step execution can be performed without the error?
Your guidance and support would be greatly appreciated.

[attachment=7834]

.rdk

上下A.B上と下の製品5本ずつ受け渡し Rrd Fr（本命） 5本状態　700B_RRARCH 吸着パッド2個.rdk (Size: 22.4 MB / Downloads: 39)

.rdk

310D QTR　上下A,B.rdk (Size: 34.65 MB / Downloads: 48) ]]> We have confirmed that the program runs correctly in automatic mode. However, when we attempt to move through the program point by point using manual (step-by-step) operation, a "null variable" error is displayed. As a result, we are unable to verify each point individually.
To help investigate the issue, I would like to send you the simulation data that we are using for the program transfer. Could you please review it and advise us on how to modify the program or settings so that step-by-step execution can be performed without the error?
Your guidance and support would be greatly appreciated.

[attachment=7834]

.rdk

上下A.B上と下の製品5本ずつ受け渡し Rrd Fr（本命） 5本状態　700B_RRARCH 吸着パッド2個.rdk (Size: 22.4 MB / Downloads: 39)

.rdk

310D QTR　上下A,B.rdk (Size: 34.65 MB / Downloads: 48) ]]> <![CDATA[Import irregular objects into the station]]> https://robodk.com/forum/Thread-Import-irregular-objects-into-the-station Wed, 29 Jul 2026 13:30:20 +0000 jeanclaude]]> https://robodk.com/forum/Thread-Import-irregular-objects-into-the-station Could you please advise on the correct method for importing custom or irregular 3D objects into RoboDK for simulation and packing tasks? Any guidance or recommended file formats would be greatly appreciated.]]> Could you please advise on the correct method for importing custom or irregular 3D objects into RoboDK for simulation and packing tasks? Any guidance or recommended file formats would be greatly appreciated.]]> <![CDATA[Welding CFP axis optimisation/collision questions]]> https://robodk.com/forum/Thread-Welding-CFP-axis-optimisation-collision-questions--8953 Mon, 27 Jul 2026 18:04:52 +0000 Arno.Klocke_Estia]]> https://robodk.com/forum/Thread-Welding-CFP-axis-optimisation-collision-questions--8953 Hello,

First of all thank you so much for the RoboDK software it's the best OLP software I have ever tried !

I am working on a project for bicycle frame welding. I am extracting geometries from Rhino Grasshopper to RoboDK either as targets or as curves. I wanted to use CFP in order to smooth have curves with IJK to permit a 180 deg around the tool but I have some issues using the avoid collision option.

You will find attached the RDK file with the cell.

The first CFP creates very smooth motion without big joint jumps but with a collision on the tool (photo : Collision_welding_torch.png)

The second CFP on the file has the avoid collision tickbox checked but doesnt converge to a solution (stops before the collision).

The third is a manual program I did using joints target from the first CFP program and manually adjusting the orientation of the torch on the last points to avoid collision. (photo : No_Collision_welding_torch.png)

Is there something I have done wrong in the parameters of the curve follow project ? Is there a better way to achieve the result from the 3rd program using CFP ?
Thank you so much
Arno Klocke

.png

Axis_optimisation.png (Size: 53.23 KB / Downloads: 59)

.png

Avoid_collision_Allow_Z_Tool_Orientation.png (Size: 75.71 KB / Downloads: 66)

.png

No_Collision_welding_torch.png (Size: 103.18 KB / Downloads: 51)

.png

Collision_welding_torch.png (Size: 248.77 KB / Downloads: 48)

.rdk

Cellule_MILC_17_07 (1).rdk (Size: 25.51 MB / Downloads: 49) ]]> Hello,

First of all thank you so much for the RoboDK software it's the best OLP software I have ever tried !

I am working on a project for bicycle frame welding. I am extracting geometries from Rhino Grasshopper to RoboDK either as targets or as curves. I wanted to use CFP in order to smooth have curves with IJK to permit a 180 deg around the tool but I have some issues using the avoid collision option.

You will find attached the RDK file with the cell.

The first CFP creates very smooth motion without big joint jumps but with a collision on the tool (photo : Collision_welding_torch.png)

The second CFP on the file has the avoid collision tickbox checked but doesnt converge to a solution (stops before the collision).

The third is a manual program I did using joints target from the first CFP program and manually adjusting the orientation of the torch on the last points to avoid collision. (photo : No_Collision_welding_torch.png)

Is there something I have done wrong in the parameters of the curve follow project ? Is there a better way to achieve the result from the 3rd program using CFP ?
Thank you so much
Arno Klocke

.png

Axis_optimisation.png (Size: 53.23 KB / Downloads: 59)

.png

Avoid_collision_Allow_Z_Tool_Orientation.png (Size: 75.71 KB / Downloads: 66)

.png

No_Collision_welding_torch.png (Size: 103.18 KB / Downloads: 51)

.png

Collision_welding_torch.png (Size: 248.77 KB / Downloads: 48)

.rdk

Cellule_MILC_17_07 (1).rdk (Size: 25.51 MB / Downloads: 49) ]]> <![CDATA[Curve Following example CAM saw blade]]> https://robodk.com/forum/Thread-Curve-Following-example-CAM-saw-blade Tue, 21 Jul 2026 07:36:04 +0000 ALEJANDRO]]> https://robodk.com/forum/Thread-Curve-Following-example-CAM-saw-blade we are currently learning how the curve following module works for blade cutting.

We want to cut a rectangle with a blade meaning the toolpath need to retract and reorient between cuts. We have tinkered with the curve following parameters a bit to see if this is possible but the generated path is not wat we intended.

.png

Screenshot 2026-07-21 092807.png (Size: 45.97 KB / Downloads: 82)

We managed to edit the generated path instructions so that it behaves as intended but this is not feasible for more complex paths.

.png

Screenshot 2026-07-21 093337.png (Size: 59.34 KB / Downloads: 72)

Is there a way to generate the toolpath automatically just by tweaking the curve following project parameters?

.rdk

SawBlade.rdk (Size: 646.93 KB / Downloads: 46) ]]> we are currently learning how the curve following module works for blade cutting.

We want to cut a rectangle with a blade meaning the toolpath need to retract and reorient between cuts. We have tinkered with the curve following parameters a bit to see if this is possible but the generated path is not wat we intended.

.png

Screenshot 2026-07-21 093337.png (Size: 59.34 KB / Downloads: 72)

Is there a way to generate the toolpath automatically just by tweaking the curve following project parameters?

.rdk

SawBlade.rdk (Size: 646.93 KB / Downloads: 46) ]]>