https://robodk.com/forum/ Thu, 22 Oct 2026 09:00:10 +0000 MyBB https://robodk.com/forum/Thread-Kukabridge-Get-Position-Works-but-not-Run-on-Robot Wed, 21 Oct 2026 09:53:09 +0000 AMANN]]> https://robodk.com/forum/Thread-Kukabridge-Get-Position-Works-but-not-Run-on-Robot I am using RoboDK 5.8.0 with an Education licence for educational purposes, and I am trying to connect RoboDK to a KUKA KRC4 robot controller using the kukabridge driver with C3 Bridge.
System Setup

• RoboDK version: 5.8.0
  
• Licence: RoboDK Education
  
• Robot controller: KUKA KRC4
  
• Driver: kukabridge with C3 Bridge
  
• Robot IP: 10.213.120.125
  
• Port: 7000
  
• FTP path configured in RoboDK: C:/kukashared
  

Problem Description
I can sometimes establish a connection with the robot, and RoboDK shows the connection status as Connected/Ready. The Get Position function also works and retrieves the robot's actual position.
However, when I try to execute a program using Run on Robot, the following errors appear in the RoboDK log:

• Error (unable to set new tool)
  
• Error (unable to set new pose)
  
• Disconnected (socket error) — this appears during some connection attempts.
  

Troubleshooting Already Tried

1. Checked the robot IP address and communication port.
   
2. Confirmed that the robot can respond to RoboDK's Get Position command.
   
3. Checked the tool and reference-frame settings in the RoboDK station.
   
4. My program contains:
   • Set Reference Frame: KR8 Base
     
   • Set Tool: Torch_TCP
     
   • MoveJ to KR8_home
     
   • Call Path1
     
   • MoveJ to KR8_home
     
5. Created a copy of the program and removed the Set Tool instruction for testing, but the unable to set new pose error still occurred.
   
6. I could not find a RoboDKsync program/file on the KUKA controller.
   

Questions

1. Does the kukabridge driver with C3 Bridge require a separate synchronization program or any additional KUKA-side configuration?
   
2. If a controller-side program is required, where can I obtain the correct version for RoboDK 5.8.0 and how should it be installed manually?
   
3. What could cause unable to set new tool and unable to set new pose when Get Position works correctly?
   
4. Are there any specific settings for tool data, base frames, or Cartesian coordinates that I should verify on the KUKA controller?
   

I would appreciate step-by-step guidance for troubleshooting and configuring the connection manually. This setup is for educational use.
Thank you for your time and support.]]> I am using RoboDK 5.8.0 with an Education licence for educational purposes, and I am trying to connect RoboDK to a KUKA KRC4 robot controller using the kukabridge driver with C3 Bridge.
System Setup

• RoboDK version: 5.8.0
  
• Licence: RoboDK Education
  
• Robot controller: KUKA KRC4
  
• Driver: kukabridge with C3 Bridge
  
• Robot IP: 10.213.120.125
  
• Port: 7000
  
• FTP path configured in RoboDK: C:/kukashared
  

Problem Description
I can sometimes establish a connection with the robot, and RoboDK shows the connection status as Connected/Ready. The Get Position function also works and retrieves the robot's actual position.
However, when I try to execute a program using Run on Robot, the following errors appear in the RoboDK log:

• Error (unable to set new tool)
  
• Error (unable to set new pose)
  
• Disconnected (socket error) — this appears during some connection attempts.
  

Troubleshooting Already Tried

1. Checked the robot IP address and communication port.
   
2. Confirmed that the robot can respond to RoboDK's Get Position command.
   
3. Checked the tool and reference-frame settings in the RoboDK station.
   
4. My program contains:
   • Set Reference Frame: KR8 Base
     
   • Set Tool: Torch_TCP
     
   • MoveJ to KR8_home
     
   • Call Path1
     
   • MoveJ to KR8_home
     
5. Created a copy of the program and removed the Set Tool instruction for testing, but the unable to set new pose error still occurred.
   
6. I could not find a RoboDKsync program/file on the KUKA controller.
   

Questions

1. Does the kukabridge driver with C3 Bridge require a separate synchronization program or any additional KUKA-side configuration?
   
2. If a controller-side program is required, where can I obtain the correct version for RoboDK 5.8.0 and how should it be installed manually?
   
3. What could cause unable to set new tool and unable to set new pose when Get Position works correctly?
   
4. Are there any specific settings for tool data, base frames, or Cartesian coordinates that I should verify on the KUKA controller?
   

I would appreciate step-by-step guidance for troubleshooting and configuring the connection manually. This setup is for educational use.
Thank you for your time and support.]]> https://robodk.com/forum/Thread-Creation-of-a-Custom-3-Axis-Mechanism Tue, 20 Oct 2026 14:04:11 +0000 praveens]]> https://robodk.com/forum/Thread-Creation-of-a-Custom-3-Axis-Mechanism I would like to know whether it is possible to create a custom 3-axis mechanism in RoboDK consisting of two rotary axes and one linear axis within a single mechanism.

The mechanism would have the following configuration:

Axis 1: Rotary axis
Axis 2: Rotary axis
Axis 3: Linear axis
Could you please clarify whether RoboDK supports creating and configuring this type of custom mechanism? If so, I would appreciate your guidance on how to define the axes, configure the kinematic structure, and integrate the mechanism into the RoboDK environment.

  3axis.png (Size: 108.64 KB / Downloads: 4)

  Positioner Axis Concept.mp4 (Size: 10.04 MB / Downloads: 4) ]]> I would like to know whether it is possible to create a custom 3-axis mechanism in RoboDK consisting of two rotary axes and one linear axis within a single mechanism.

The mechanism would have the following configuration:

Axis 1: Rotary axis
Axis 2: Rotary axis
Axis 3: Linear axis
Could you please clarify whether RoboDK supports creating and configuring this type of custom mechanism? If so, I would appreciate your guidance on how to define the axes, configure the kinematic structure, and integrate the mechanism into the RoboDK environment.

  3axis.png (Size: 108.64 KB / Downloads: 4)

  Positioner Axis Concept.mp4 (Size: 10.04 MB / Downloads: 4) ]]> https://robodk.com/forum/Thread-Need-FANUC-Driver-files-RDK-S3-PC-GO-TP-for-LR-Mate-200iD-7L Fri, 16 Oct 2026 21:46:09 +0000 Shen]]> https://robodk.com/forum/Thread-Need-FANUC-Driver-files-RDK-S3-PC-GO-TP-for-LR-Mate-200iD-7L
Could you please share the following compatible driver files?
- RDK_S3.PC
- GO_MJ.TP
- GO_ML.TP
- GO_MC.TP
- GO_PROG.TP

Any additional advice or instructions regarding the R-30iB setup would be greatly appreciated.]]>
Could you please share the following compatible driver files?
- RDK_S3.PC
- GO_MJ.TP
- GO_ML.TP
- GO_MC.TP
- GO_PROG.TP

Any additional advice or instructions regarding the R-30iB setup would be greatly appreciated.]]> https://robodk.com/forum/Thread-Conveyor-tracking-with-RoboDK-e-g-Curve-Follow-Project Thu, 15 Oct 2026 03:58:42 +0000 Keisuke.Sakai]]> https://robodk.com/forum/Thread-Conveyor-tracking-with-RoboDK-e-g-Curve-Follow-Project
I am planning an application similar to welding where parts are moving on a conveyor.

1. Is it possible to use features like the "Curve Follow Project" for a moving workpiece (conveyor tracking) natively in RoboDK?
   
2. If it is not possible natively and requires combining with the RoboDK API, could you please explain or provide the recommended approach/workflow to achieve real-time synchronization with a conveyor?
   

Thank you for your support!
Keisuke Sakai

  新しいプロジェクト (1).rdk (Size: 3.52 MB / Downloads: 14) ]]>
I am planning an application similar to welding where parts are moving on a conveyor.

1. Is it possible to use features like the "Curve Follow Project" for a moving workpiece (conveyor tracking) natively in RoboDK?
   
2. If it is not possible natively and requires combining with the RoboDK API, could you please explain or provide the recommended approach/workflow to achieve real-time synchronization with a conveyor?
   

Thank you for your support!
Keisuke Sakai

  新しいプロジェクト (1).rdk (Size: 3.52 MB / Downloads: 14) ]]> https://robodk.com/forum/Thread-UR-Post-processor-converts-movec-command-to-moveL-command Wed, 14 Oct 2026 11:21:16 +0000 Marijnd01]]> https://robodk.com/forum/Thread-UR-Post-processor-converts-movec-command-to-moveL-command https://robodk.com/forum/Thread-Real-time-robot-UR5-tracking-in-RoboDK Mon, 12 Oct 2026 14:35:41 +0000 badidou213]]> https://robodk.com/forum/Thread-Real-time-robot-UR5-tracking-in-RoboDK
When I move the robot using the teach pendant, I can see its movements on the tablet but the virtual robot in RoboDK does not update automatically. I know there is an option to retrieve the robot's current position but I have to click it manually and it doesn't keep updating as the robot moves.

Is it possible to configure RoboDK to continuously display the real robot's position and follow its movements? Also when I execute a pick and place program I would like to see the physical robot's movements reflected in RoboDK in real time rather than just seeing the simulation. How can I achieve this?]]>
When I move the robot using the teach pendant, I can see its movements on the tablet but the virtual robot in RoboDK does not update automatically. I know there is an option to retrieve the robot's current position but I have to click it manually and it doesn't keep updating as the robot moves.

Is it possible to configure RoboDK to continuously display the real robot's position and follow its movements? Also when I execute a pick and place program I would like to see the physical robot's movements reflected in RoboDK in real time rather than just seeing the simulation. How can I achieve this?]]> https://robodk.com/forum/Thread-Issue-Editing-Targets-in-Curve-Follow-Project Thu, 08 Oct 2026 15:13:23 +0000 joshb5643]]> https://robodk.com/forum/Thread-Issue-Editing-Targets-in-Curve-Follow-Project I noticed that when creating a curve follow project I have a reference frame set in the curve follow project settings but when I run the program with the robot panel open, the drop down is set to the Fanuc base frame, however I do not recognize the active frame coordinates. If I right click set ref instruction and uncheck ‘force original pose’ then the active frame does change to the expected frame, but none of the positions are reachable. I’ve tried recalculating targets but this fails.
Disabling ‘Impose original tool and reference in programs’ fixes the reference frame issue but now I cannot get the curve follow projects to run at all and the points that the robot will move to are completely incorrect. I get a green check with ‘path solved successfully’ but when I simulate/run it just moves to the first point and stops. The green tool path looks correct but again the points that it does move to are not even close.]]> I noticed that when creating a curve follow project I have a reference frame set in the curve follow project settings but when I run the program with the robot panel open, the drop down is set to the Fanuc base frame, however I do not recognize the active frame coordinates. If I right click set ref instruction and uncheck ‘force original pose’ then the active frame does change to the expected frame, but none of the positions are reachable. I’ve tried recalculating targets but this fails.
Disabling ‘Impose original tool and reference in programs’ fixes the reference frame issue but now I cannot get the curve follow projects to run at all and the points that the robot will move to are completely incorrect. I get a green check with ‘path solved successfully’ but when I simulate/run it just moves to the first point and stops. The green tool path looks correct but again the points that it does move to are not even close.]]> https://robodk.com/forum/Thread-Question-Regarding-FANUC-Target-Configuration-in-RoboDK Wed, 16 Sep 2026 12:49:45 +0000 merin]]> https://robodk.com/forum/Thread-Question-Regarding-FANUC-Target-Configuration-in-RoboDK I have a question regarding the FANUC LS program generated by RoboDK.
I am using RoboDK version 5.9.0 with a FANUC LR Mate 200iD/7L robot. I generate the robot program using a RoboDK Python script and the FANUC RJ3 post processor.
I would like to keep the robot configuration as F U T.
In the RoboDK simulation, the robot moves with the desired F U T configuration. However, I found that the joint angles stored in some Targets do not correspond to the F U T configuration. Instead, some Targets appear to have joint angles corresponding to the F D B configuration.
For example, the generated LS file contains:
P[32]{
GP1:
UF : 2, UT : 2, CONFIG : 'F U T, 0, 0, 0',
X = 792.980 mm, Y = 129.270 mm, Z = 160.000 mm,
W = 90.000 deg, P = 0.000 deg, R = -119.518 deg
};
P[33]{
GP1:
UF : 2, UT : 2, CONFIG : 'F D B, 0, 0, 0',
X = 826.627 mm, Y = 164.595 mm, Z = 160.000 mm,
W = 90.000 deg, P = 0.000 deg, R = -149.036 deg
};
I suspect that the problem occurs when the Target positions and joint angles are calculated or generated in RoboDK. Although the robot simulation follows the desired F U T configuration, some Targets are generated with joint angles corresponding to F D B. As a result, the FANUC LS file later outputs those Targets as F D B.
I found that I can correct the configuration by using the "Teach Current Position" function for each Target in RoboDK. After doing this, the Target stores the joint angles corresponding to the desired F U T configuration.
However, my program contains a very large number of Target points, so manually applying this operation to every Target is not practical.
Therefore, I would like to understand:

1. Why are some Targets generated with joint angles corresponding to F D B instead of F U T, even though the robot simulation moves through the path using the F U T configuration?
   
2. Could this be related to the way the Targets are calculated or generated using the RoboDK Python API?
   
3. Is there a way to automatically generate or update all Targets so that their stored joint angles correspond to the F U T configuration, without manually using "Teach Current Position" for each Target?
   

My current setup is:

• RoboDK version: 5.9.0
  
• Robot: FANUC LR Mate 200iD/7L
  
• Post processor: FANUC RJ3
  
• Program generation: RoboDK Python script
  
• Output: FANUC LS file
  

Thank you for your support.

  Problem.rdk (Size: 629.71 KB / Downloads: 43) ]]> I have a question regarding the FANUC LS program generated by RoboDK.
I am using RoboDK version 5.9.0 with a FANUC LR Mate 200iD/7L robot. I generate the robot program using a RoboDK Python script and the FANUC RJ3 post processor.
I would like to keep the robot configuration as F U T.
In the RoboDK simulation, the robot moves with the desired F U T configuration. However, I found that the joint angles stored in some Targets do not correspond to the F U T configuration. Instead, some Targets appear to have joint angles corresponding to the F D B configuration.
For example, the generated LS file contains:
P[32]{
GP1:
UF : 2, UT : 2, CONFIG : 'F U T, 0, 0, 0',
X = 792.980 mm, Y = 129.270 mm, Z = 160.000 mm,
W = 90.000 deg, P = 0.000 deg, R = -119.518 deg
};
P[33]{
GP1:
UF : 2, UT : 2, CONFIG : 'F D B, 0, 0, 0',
X = 826.627 mm, Y = 164.595 mm, Z = 160.000 mm,
W = 90.000 deg, P = 0.000 deg, R = -149.036 deg
};
I suspect that the problem occurs when the Target positions and joint angles are calculated or generated in RoboDK. Although the robot simulation follows the desired F U T configuration, some Targets are generated with joint angles corresponding to F D B. As a result, the FANUC LS file later outputs those Targets as F D B.
I found that I can correct the configuration by using the "Teach Current Position" function for each Target in RoboDK. After doing this, the Target stores the joint angles corresponding to the desired F U T configuration.
However, my program contains a very large number of Target points, so manually applying this operation to every Target is not practical.
Therefore, I would like to understand:

1. Why are some Targets generated with joint angles corresponding to F D B instead of F U T, even though the robot simulation moves through the path using the F U T configuration?
   
2. Could this be related to the way the Targets are calculated or generated using the RoboDK Python API?
   
3. Is there a way to automatically generate or update all Targets so that their stored joint angles correspond to the F U T configuration, without manually using "Teach Current Position" for each Target?
   

My current setup is:

• RoboDK version: 5.9.0
  
• Robot: FANUC LR Mate 200iD/7L
  
• Post processor: FANUC RJ3
  
• Program generation: RoboDK Python script
  
• Output: FANUC LS file
  

Thank you for your support.

  Problem.rdk (Size: 629.71 KB / Downloads: 43) ]]> https://robodk.com/forum/Thread-Can-t-align-curves-to-an-actual-part-held-by-robot Tue, 15 Sep 2026 18:18:30 +0000 jheimann]]> https://robodk.com/forum/Thread-Can-t-align-curves-to-an-actual-part-held-by-robot
What I need to do is align the spacer (with the curves) to spacer1 that is picked up in the jaws of the robot, and follow the path.  I can't seem to get the curves to align to the spacer picked up.  As I put the spacer down and regrip it again in a different location to debur the next spot(s) I again will need to realign the spacer with curves to the spacer1 object held in the jaws.

My RDK file is attached.  You can see that spacer contains the curves.  I used Spacer as my remote TCP and the debur position 1 as the reference the the tool will run against.  But the spacer curves I cannot get to align to the spacer1 that is held in the jaws no matter what I do.

I can't seem to figure this out.  Any help would be appreciated.

Thanks,


John Heimann

  DEBUR Fusion Import rev 6.rdk (Size: 1.75 MB / Downloads: 43) ]]>
What I need to do is align the spacer (with the curves) to spacer1 that is picked up in the jaws of the robot, and follow the path.  I can't seem to get the curves to align to the spacer picked up.  As I put the spacer down and regrip it again in a different location to debur the next spot(s) I again will need to realign the spacer with curves to the spacer1 object held in the jaws.

My RDK file is attached.  You can see that spacer contains the curves.  I used Spacer as my remote TCP and the debur position 1 as the reference the the tool will run against.  But the spacer curves I cannot get to align to the spacer1 that is held in the jaws no matter what I do.

I can't seem to figure this out.  Any help would be appreciated.

Thanks,


John Heimann

  DEBUR Fusion Import rev 6.rdk (Size: 1.75 MB / Downloads: 43) ]]> https://robodk.com/forum/Thread-Program-Patterns-Yaskawa-Post-Processor Thu, 10 Sep 2026 16:04:10 +0000 Arno.Klocke_Estia]]> https://robodk.com/forum/Thread-Program-Patterns-Yaskawa-Post-Processor I have a question regarding patterns in RoboDK. I am going to be as specific as possible in my request. 
I am able to have a simulation for what I want in RoboDK my problem is mainly in the the post process. 
I am using the Motoman.py post processor with output in pulses. 
I will attach the station below with the program. 
To be able to do the simulation I just simply created other coordinate system and in the program I am calling the same target but in another coordinate system moved by the pattern (here Y=+100) 
The robotic cell contains an external axis (2 axis positionner). 
The simulation runs fine but when trying to export the program in Pulses I run into 2 problems. 
The first one is easily fixable and I think is due to the presence of the external axis, but when I import Targets from a rhino grasshopper file (with Python API), targets are created and placed accordingly but all the joints value in the target are the same, an thus I have to manually double click on the target and press teach current position to have the target with the right joint values (only the 6 axis of the robot, the 2 axis positionner values are remembered) 

If I don't do this when I output the program all the pulses values are the same. 

This is ok and can easily be fixed with a python script. 

The second problem I face is when patterning wiht a coordinate system, when exporting the program I have the same Pulse values, I kinda understand that the post process reads all the targets and there joints values and then calculates the pulses accordingly but then when the trajectory in simulation is moved, the outputed program is basically 5 times the same movement. 
Is there an easy way of doing pattern without duplicating all the targets in space and creating the whole program with linked targets ?
Basically I want to be able to have the program ready and if some minor changes have to be made to the path I only have to modify 8 targets instead of all of them and the parametric is kept and then I can output the program. 

How I am currently doing is I am outputing only the first instance of the program and then I do the loop with INFORM language inside the outputted program from post processor "Motoman.py" to pattern and I can visualise that there is no problem with RoboDK simulation making the pattern.

The only Problem I have doing this is in case the tooling is not extermely precise, only the first instance can be changed with the teach and ideally I would like to have all the instances of the program and modify some of them manually with the teach if needed.

I will also use this post for a question regarding targets linked, I want to keep the parametric from Rhino grasshopper and update in real time changes that are made within grasshopper, It works and rewrites the targets, it's also great because it can bedone with meshes, very practical for tooling variations.

Unfortunately the targets are "delinked" so to say in the program while they have the same name. Is there a way to re link all the targets direclty for a program. 

Thank you so much for your time ! 
Arno Klocke

  Pattern_RoboDK.png (Size: 167.12 KB / Downloads: 60)

  Cellule_MILC_THN01.2050_SE PLATINE REAR WHEEL.rdk (Size: 6.2 MB / Downloads: 51) ]]> I have a question regarding patterns in RoboDK. I am going to be as specific as possible in my request. 
I am able to have a simulation for what I want in RoboDK my problem is mainly in the the post process. 
I am using the Motoman.py post processor with output in pulses. 
I will attach the station below with the program. 
To be able to do the simulation I just simply created other coordinate system and in the program I am calling the same target but in another coordinate system moved by the pattern (here Y=+100) 
The robotic cell contains an external axis (2 axis positionner). 
The simulation runs fine but when trying to export the program in Pulses I run into 2 problems. 
The first one is easily fixable and I think is due to the presence of the external axis, but when I import Targets from a rhino grasshopper file (with Python API), targets are created and placed accordingly but all the joints value in the target are the same, an thus I have to manually double click on the target and press teach current position to have the target with the right joint values (only the 6 axis of the robot, the 2 axis positionner values are remembered) 

If I don't do this when I output the program all the pulses values are the same. 

This is ok and can easily be fixed with a python script. 

The second problem I face is when patterning wiht a coordinate system, when exporting the program I have the same Pulse values, I kinda understand that the post process reads all the targets and there joints values and then calculates the pulses accordingly but then when the trajectory in simulation is moved, the outputed program is basically 5 times the same movement. 
Is there an easy way of doing pattern without duplicating all the targets in space and creating the whole program with linked targets ?
Basically I want to be able to have the program ready and if some minor changes have to be made to the path I only have to modify 8 targets instead of all of them and the parametric is kept and then I can output the program. 

How I am currently doing is I am outputing only the first instance of the program and then I do the loop with INFORM language inside the outputted program from post processor "Motoman.py" to pattern and I can visualise that there is no problem with RoboDK simulation making the pattern.

The only Problem I have doing this is in case the tooling is not extermely precise, only the first instance can be changed with the teach and ideally I would like to have all the instances of the program and modify some of them manually with the teach if needed.

I will also use this post for a question regarding targets linked, I want to keep the parametric from Rhino grasshopper and update in real time changes that are made within grasshopper, It works and rewrites the targets, it's also great because it can bedone with meshes, very practical for tooling variations.

Unfortunately the targets are "delinked" so to say in the program while they have the same name. Is there a way to re link all the targets direclty for a program. 

Thank you so much for your time ! 
Arno Klocke

  Pattern_RoboDK.png (Size: 167.12 KB / Downloads: 60)

  Cellule_MILC_THN01.2050_SE PLATINE REAR WHEEL.rdk (Size: 6.2 MB / Downloads: 51) ]]> https://robodk.com/forum/Thread-xArm-6-linear-moves-diverge-from-simulation-when-sent-to-robot Wed, 09 Sep 2026 17:35:16 +0000 JakeInTX]]> https://robodk.com/forum/Thread-xArm-6-linear-moves-diverge-from-simulation-when-sent-to-robot
I'm working with a UFACTORY xArm 6 through RoboDK.

Joint movements work perfectly in both modes, whether the robot is driven live by RoboDK or running a program sent to it independently. The problem only shows up with linear moves:

- Driven live by RoboDK: linear moves are correct, path and end effector orientation match simulation.
- Sent to the robot with "Send Program to Robot" and run independently: linear moves either miss the correct position, or reach it with the wrong orientation, and the path doesn't match what RoboDK shows.

I can't rely on joint moves alone for this project, so I need linear moves to behave the same sent as they do live.

What I've already checked:
- Base frame in RoboDK matches the xArm's reference frame (no unexpected offset).
- Tool frame (TCP) values in RoboDK match the TCP configuration in UFACTORY Studio exactly (same X, Y, Z, and Euler angles).
- Confirmed the Euler angle convention in RoboDK matches how the xArm defines roll, pitch, and yaw (fixed-angle XYZ).
- Tested a single-axis jog to isolate the issue; the discrepancy still shows up on sent linear moves even though live-connected linear moves are fine.

Since joint moves are consistent in both modes and only linear moves diverge, and only when sent rather than live, I suspect this is something in how the post-processor or program generation handles Cartesian/linear motion for the xArm 6 controller specifically. Has anyone else run into this, or know what changes between live-driven and sent-and-run execution for linear moves on the xArm?

Thanks,
Jake]]>
I'm working with a UFACTORY xArm 6 through RoboDK.

Joint movements work perfectly in both modes, whether the robot is driven live by RoboDK or running a program sent to it independently. The problem only shows up with linear moves:

- Driven live by RoboDK: linear moves are correct, path and end effector orientation match simulation.
- Sent to the robot with "Send Program to Robot" and run independently: linear moves either miss the correct position, or reach it with the wrong orientation, and the path doesn't match what RoboDK shows.

I can't rely on joint moves alone for this project, so I need linear moves to behave the same sent as they do live.

What I've already checked:
- Base frame in RoboDK matches the xArm's reference frame (no unexpected offset).
- Tool frame (TCP) values in RoboDK match the TCP configuration in UFACTORY Studio exactly (same X, Y, Z, and Euler angles).
- Confirmed the Euler angle convention in RoboDK matches how the xArm defines roll, pitch, and yaw (fixed-angle XYZ).
- Tested a single-axis jog to isolate the issue; the discrepancy still shows up on sent linear moves even though live-connected linear moves are fine.

Since joint moves are consistent in both modes and only linear moves diverge, and only when sent rather than live, I suspect this is something in how the post-processor or program generation handles Cartesian/linear motion for the xArm 6 controller specifically. Has anyone else run into this, or know what changes between live-driven and sent-and-run execution for linear moves on the xArm?

Thanks,
Jake]]> https://robodk.com/forum/Thread-Tool-rotation Wed, 09 Sep 2026 12:29:46 +0000 Mukesh]]> https://robodk.com/forum/Thread-Tool-rotation
  test4.rdk (Size: 699.88 KB / Downloads: 60) ]]>
  test4.rdk (Size: 699.88 KB / Downloads: 60) ]]> https://robodk.com/forum/Thread-How-can-i-set-my-J6-always-at-180degree-in-the-curve-follow-project Wed, 09 Sep 2026 05:22:15 +0000 Mukesh]]> https://robodk.com/forum/Thread-How-can-i-set-my-J6-always-at-180degree-in-the-curve-follow-project
I want J6 to remain at 180° throughout the entire path. How can I configure or program the path so that J6 stays fixed at 180°?

  test3.rdk (Size: 698.6 KB / Downloads: 65) ]]>
I want J6 to remain at 180° throughout the entire path. How can I configure or program the path so that J6 stays fixed at 180°?

  test3.rdk (Size: 698.6 KB / Downloads: 65) ]]> https://robodk.com/forum/Thread-How-can-I-prevent-J6-from-rotating-during-Curve-Follow-Project Mon, 07 Sep 2026 13:23:12 +0000 Mukesh]]> https://robodk.com/forum/Thread-How-can-I-prevent-J6-from-rotating-during-Curve-Follow-Project I am using RoboDK with a Doosan A0509 robot and I am creating a path using Curve Follow Project.
I have a problem with the robot's J6 axis. I want J6 to remain at approximately 180° throughout the entire path, but during the Curve Follow motion, J6 rotates significantly.

  test3.rdk (Size: 698.6 KB / Downloads: 76) ]]> I am using RoboDK with a Doosan A0509 robot and I am creating a path using Curve Follow Project.
I have a problem with the robot's J6 axis. I want J6 to remain at approximately 180° throughout the entire path, but during the Curve Follow motion, J6 rotates significantly.

  test3.rdk (Size: 698.6 KB / Downloads: 76) ]]> 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

  PouringRobot.PNG (Size: 209.02 KB / Downloads: 75) ]]>
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

  PouringRobot.PNG (Size: 209.02 KB / Downloads: 75) ]]>