<![CDATA[RoboDK Forum - RoboDK API]]> https://robodk.com/forum/ Sun, 19 Apr 2026 11:07:32 +0000 MyBB <![CDATA[Display mensage on screen based on the running program]]> https://robodk.com/forum/Thread-Display-mensage-on-screen-based-on-the-running-program Sat, 28 Mar 2026 13:06:26 +0000 Danilo assumpção]]> https://robodk.com/forum/Thread-Display-mensage-on-screen-based-on-the-running-program I made a simulation with 7 robots, step by step.

I would like to display a message on the screen according to the program being executed.

Example:
When program RB01 is running - "Robot 1 picking up part"
When program RB02 is running - "Welding part"

Is there any API or Python script to do this?]]> I made a simulation with 7 robots, step by step.

I would like to display a message on the screen according to the program being executed.

Example:
When program RB01 is running - "Robot 1 picking up part"
When program RB02 is running - "Welding part"

Is there any API or Python script to do this?]]> <![CDATA[Use API to link multiple program]]> https://robodk.com/forum/Thread-Use-API-to-link-multiple-program Fri, 20 Mar 2026 13:59:07 +0000 b05611018]]> https://robodk.com/forum/Thread-Use-API-to-link-multiple-program “Link selected programs” functionality using the RoboDK API.
From my understanding, I can already achieve a similar result by creating a main program and using
Code:
RunInstruction(..., INSTRUCTION_CALL_PROGRAM)
to call multiple sub-programs. However, I noticed that your built-in Link selected programs feature seems to do more than just calling programs sequentially.
In particular, it appears to automatically generate safe transition motions (e.g., collision-free or obstacle-avoiding paths) between programs. This is extremely useful for ensuring safe execution, especially in machining workflows.
I would like to ask:
  1. Is there any API that directly replicates the full behavior of “Link selected programs”, including the automatic generation of safe transition paths?
  2. If not, is there a recommended way to programmatically generate these safe linking motions between programs (e.g., via motion planning, collision checking, or predefined safe targets)?
My goal is to fully automate the generation of a main program that not only links sub-programs, but also ensures safe transitions between them, similar to what the GUI provides.
Thank you for your help!

.png   螢幕擷取畫面 2026-03-20 181548.png (Size: 29.52 KB / Downloads: 43) ]]> “Link selected programs” functionality using the RoboDK API.
From my understanding, I can already achieve a similar result by creating a main program and using
Code:
RunInstruction(..., INSTRUCTION_CALL_PROGRAM)
to call multiple sub-programs. However, I noticed that your built-in Link selected programs feature seems to do more than just calling programs sequentially.
In particular, it appears to automatically generate safe transition motions (e.g., collision-free or obstacle-avoiding paths) between programs. This is extremely useful for ensuring safe execution, especially in machining workflows.
I would like to ask:
  1. Is there any API that directly replicates the full behavior of “Link selected programs”, including the automatic generation of safe transition paths?
  2. If not, is there a recommended way to programmatically generate these safe linking motions between programs (e.g., via motion planning, collision checking, or predefined safe targets)?
My goal is to fully automate the generation of a main program that not only links sub-programs, but also ensures safe transitions between them, similar to what the GUI provides.
Thank you for your help!

.png   螢幕擷取畫面 2026-03-20 181548.png (Size: 29.52 KB / Downloads: 43) ]]> <![CDATA[Control 3 Positioners as A7, A8, A9]]> https://robodk.com/forum/Thread-Control-3-Positioners-as-A7-A8-A9 Wed, 11 Mar 2026 23:03:43 +0000 wreid]]> https://robodk.com/forum/Thread-Control-3-Positioners-as-A7-A8-A9
I need some help setting up 3 positioners to be controlled from my Comau robot A7, A8, A9.

I've been playing around with the configuration and reading other forum posts (like this one) to set up the mechanisms but have had little success. The only way I can define all 3 positioners is with one of the positioners linked to A7, and the other two as standalone positioners (essentially an A1 each). 

This works fine inside the RoboDK simulation, and I have created python scripts to manipulate the positioners as expected. However, the problem is when I generate the robot program.

Any control command (move just robot, move robot & positioners, move just positioners) is generated as a move robot command with 7 axes. 
E.g.   MOVE TO {A1, A2, A3, A4, A5, A6, E1} 

This means that trying to move just the robot will also move the positioner in E1. 
E.g. my MoveRobotHome.py is exported with the following move command.
      MOVE TO {0.00000,-60.00000,-110.00000,0.00000,90.00000,0.00000,90.00000} 
      robot is moved to home AND positioner 1 is moved to 90 deg

Similarly, when I try to move just positioner A8 or A9 it will generate it as essentially just an A1 move
E.g. MovePositioner2(90) is exported with the following move command.
      MOVE TO {90.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000}
      This moves A1 to 90 and all other joints (including positioner 1 in A7) to 0, instead of just positioner 2 to 90 deg.

I need to be able to export my move commands with all axes by defining the positioners as A7, A8 and A9 inside RoboDK so the exported move commands are:
   MOVE TO {A1, A2, A3, A4, A5, A6, E1, E2, E3} 

Any ideas?

I am using RoboDK v5.7.4
Robot: Comau S-13
Post Processor: Comau C5G

See below raw script dump. This script should move robot to home, then positioners 2 and 3 to home, then positioner 1.
MoveToStation1.py

Code:
# You can also use the new version of the API:
from robodk import robolink    # RoboDK API
from robodk import robomath    # Robot toolbox
RDK = robolink.Robolink()



# ----------------- move robot to home -----------------

# get comau robodk
comau = RDK.Item('Comau S-13', robolink.ITEM_TYPE_ROBOT)

# check comau is valid
if not comau.Valid():
    raise Exception("Could not find JIG 1")

# set speed
comau.setSpeed(-1, 30, -1, -1)  # 30 deg/s joint speed

# initialise joints
joints_comau = comau.Joints()

# update joints to home position
joints_comau[0] = 0
joints_comau[1] = -60
joints_comau[2] = -110
joints_comau[3] = 0
joints_comau[4] = 90
joints_comau[5] = 0

# move to joints
comau.MoveJ(joints_comau)

# ------------------------------------------------------



# --------------------- move JIG 1 ---------------------

# get jig1 robodk
jig_1 = RDK.Item('JIG1', robolink.ITEM_TYPE_ROBOT)

# check jig1 is valid
if not jig_1.Valid():
    raise Exception("Could not find JIG 1")

# set speed
jig_1.setSpeed(-1, 10, -1, -1)  # 20 deg/s rotation speed

# initialise joints
joints_jig1 = jig_1.Joints()

# update jig1 target angle
joints_jig1[0] = 90

# move to target angle
jig_1.MoveJ(joints_jig1)

# ------------------------------------------------------



# --------------------- move JIG 2 ---------------------

# get jig2 robodk
jig_2 = RDK.Item('JIG2', robolink.ITEM_TYPE_ROBOT)

# check jig2 is valid
if not jig_2.Valid():
    raise Exception("Could not find JIG 2")

# set speed
jig_2.setSpeed(-1, 10, -1, -1)  # 20 deg/s rotation speed

# initialise joints
joints_jig2 = jig_2.Joints()

# update jig2 target angle
joints_jig2[0] = 90

# move to target angle
jig_2.MoveJ(joints_jig2)

# ------------------------------------------------------



# -------------------- move JIG MAIN -------------------

# get main jig robodk
jig_main = RDK.Item('MAIN JIG', robolink.ITEM_TYPE_ROBOT)

# check main jig is valid
if not jig_main.Valid():
    raise Exception("Could not find MAIN JIG")

# set speed
jig_main.setSpeed(-1, 10, -1, -1)  # 20 deg/s rotation speed

# initialise joints
joints_jigmain = jig_main.Joints()

# update jig main target angle
joints_jigmain[0] = 0

# move to target angle
jig_main.MoveJ(joints_jigmain)

# ------------------------------------------------------

Comau output

Code:
PROGRAM MoveToStation1
VAR
ROUTINE R_MoveToStation1 EXPORTED FROM MoveToStation1 GLOBAL

ROUTINE R_MoveToStation1
VAR
BEGIN
  $ORNT_TYPE := RS_WORLD
  $MOVE_TYPE := JOINT
  $JNT_MTURN := TRUE
  $CNFG_CARE := TRUE
  $TURN_CARE := TRUE
  $SING_CARE := FALSE
  $TERM_TYPE := NOSETTLE
  $FLY_TYPE := FLY_CART
  $FLY_TRAJ := FLY_PASS
  $FLY_DIST := -1.000
  $STRESS_PER:= 65
  -- Program generated by RoboDK v5.7.4 for Comau S-13 on 11/03/2026 12:35:30
  $ROT_SPD := 0.524
  $UFRAME := POS(-62.0000, -140.0000, -2000.0000, -90.0000, 90.0000, 0.0000, '')
  $TOOL := POS(0.0000, 0.0000, 510.0000, -104.9996, 120.0002, 150.0002, '')
  MOVE TO {0.00000,-60.00000,-110.00000,0.00000,90.00000,0.00000,90.00000} -- move COMAU only
  $ROT_SPD := 0.175
  $UFRAME := POS(0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, '')
  $TOOL := POS(0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, '')
  MOVE TO {90.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000} -- move JIG1 only
  $ROT_SPD := 0.175
  MOVE TO {90.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000} -- move JIG2 only
  $ROT_SPD := 0.175
  MOVE TO {0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000} -- move MAIN JIG only
END R_MoveToStation1

BEGIN
  R_MoveToStation1
END MoveToStation1


.png   Screenshot 2026-03-12 085123.png (Size: 332.11 KB / Downloads: 33) ]]>
I need some help setting up 3 positioners to be controlled from my Comau robot A7, A8, A9.

I've been playing around with the configuration and reading other forum posts (like this one) to set up the mechanisms but have had little success. The only way I can define all 3 positioners is with one of the positioners linked to A7, and the other two as standalone positioners (essentially an A1 each). 

This works fine inside the RoboDK simulation, and I have created python scripts to manipulate the positioners as expected. However, the problem is when I generate the robot program.

Any control command (move just robot, move robot & positioners, move just positioners) is generated as a move robot command with 7 axes. 
E.g.   MOVE TO {A1, A2, A3, A4, A5, A6, E1} 

This means that trying to move just the robot will also move the positioner in E1. 
E.g. my MoveRobotHome.py is exported with the following move command.
      MOVE TO {0.00000,-60.00000,-110.00000,0.00000,90.00000,0.00000,90.00000} 
      robot is moved to home AND positioner 1 is moved to 90 deg

Similarly, when I try to move just positioner A8 or A9 it will generate it as essentially just an A1 move
E.g. MovePositioner2(90) is exported with the following move command.
      MOVE TO {90.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000}
      This moves A1 to 90 and all other joints (including positioner 1 in A7) to 0, instead of just positioner 2 to 90 deg.

I need to be able to export my move commands with all axes by defining the positioners as A7, A8 and A9 inside RoboDK so the exported move commands are:
   MOVE TO {A1, A2, A3, A4, A5, A6, E1, E2, E3} 

Any ideas?

I am using RoboDK v5.7.4
Robot: Comau S-13
Post Processor: Comau C5G

See below raw script dump. This script should move robot to home, then positioners 2 and 3 to home, then positioner 1.
MoveToStation1.py

Code:
# You can also use the new version of the API:
from robodk import robolink    # RoboDK API
from robodk import robomath    # Robot toolbox
RDK = robolink.Robolink()



# ----------------- move robot to home -----------------

# get comau robodk
comau = RDK.Item('Comau S-13', robolink.ITEM_TYPE_ROBOT)

# check comau is valid
if not comau.Valid():
    raise Exception("Could not find JIG 1")

# set speed
comau.setSpeed(-1, 30, -1, -1)  # 30 deg/s joint speed

# initialise joints
joints_comau = comau.Joints()

# update joints to home position
joints_comau[0] = 0
joints_comau[1] = -60
joints_comau[2] = -110
joints_comau[3] = 0
joints_comau[4] = 90
joints_comau[5] = 0

# move to joints
comau.MoveJ(joints_comau)

# ------------------------------------------------------



# --------------------- move JIG 1 ---------------------

# get jig1 robodk
jig_1 = RDK.Item('JIG1', robolink.ITEM_TYPE_ROBOT)

# check jig1 is valid
if not jig_1.Valid():
    raise Exception("Could not find JIG 1")

# set speed
jig_1.setSpeed(-1, 10, -1, -1)  # 20 deg/s rotation speed

# initialise joints
joints_jig1 = jig_1.Joints()

# update jig1 target angle
joints_jig1[0] = 90

# move to target angle
jig_1.MoveJ(joints_jig1)

# ------------------------------------------------------



# --------------------- move JIG 2 ---------------------

# get jig2 robodk
jig_2 = RDK.Item('JIG2', robolink.ITEM_TYPE_ROBOT)

# check jig2 is valid
if not jig_2.Valid():
    raise Exception("Could not find JIG 2")

# set speed
jig_2.setSpeed(-1, 10, -1, -1)  # 20 deg/s rotation speed

# initialise joints
joints_jig2 = jig_2.Joints()

# update jig2 target angle
joints_jig2[0] = 90

# move to target angle
jig_2.MoveJ(joints_jig2)

# ------------------------------------------------------



# -------------------- move JIG MAIN -------------------

# get main jig robodk
jig_main = RDK.Item('MAIN JIG', robolink.ITEM_TYPE_ROBOT)

# check main jig is valid
if not jig_main.Valid():
    raise Exception("Could not find MAIN JIG")

# set speed
jig_main.setSpeed(-1, 10, -1, -1)  # 20 deg/s rotation speed

# initialise joints
joints_jigmain = jig_main.Joints()

# update jig main target angle
joints_jigmain[0] = 0

# move to target angle
jig_main.MoveJ(joints_jigmain)

# ------------------------------------------------------

Comau output

Code:
PROGRAM MoveToStation1
VAR
ROUTINE R_MoveToStation1 EXPORTED FROM MoveToStation1 GLOBAL

ROUTINE R_MoveToStation1
VAR
BEGIN
  $ORNT_TYPE := RS_WORLD
  $MOVE_TYPE := JOINT
  $JNT_MTURN := TRUE
  $CNFG_CARE := TRUE
  $TURN_CARE := TRUE
  $SING_CARE := FALSE
  $TERM_TYPE := NOSETTLE
  $FLY_TYPE := FLY_CART
  $FLY_TRAJ := FLY_PASS
  $FLY_DIST := -1.000
  $STRESS_PER:= 65
  -- Program generated by RoboDK v5.7.4 for Comau S-13 on 11/03/2026 12:35:30
  $ROT_SPD := 0.524
  $UFRAME := POS(-62.0000, -140.0000, -2000.0000, -90.0000, 90.0000, 0.0000, '')
  $TOOL := POS(0.0000, 0.0000, 510.0000, -104.9996, 120.0002, 150.0002, '')
  MOVE TO {0.00000,-60.00000,-110.00000,0.00000,90.00000,0.00000,90.00000} -- move COMAU only
  $ROT_SPD := 0.175
  $UFRAME := POS(0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, '')
  $TOOL := POS(0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, '')
  MOVE TO {90.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000} -- move JIG1 only
  $ROT_SPD := 0.175
  MOVE TO {90.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000} -- move JIG2 only
  $ROT_SPD := 0.175
  MOVE TO {0.00000,0.00000,0.00000,0.00000,0.00000,0.00000,0.00000} -- move MAIN JIG only
END R_MoveToStation1

BEGIN
  R_MoveToStation1
END MoveToStation1


.png   Screenshot 2026-03-12 085123.png (Size: 332.11 KB / Downloads: 33) ]]> <![CDATA["Python Path Not Found" Error when trying to save program]]> https://robodk.com/forum/Thread-Python-Path-Not-Found-Error-when-trying-to-save-program Wed, 11 Mar 2026 12:37:08 +0000 Georgia van der linden]]> https://robodk.com/forum/Thread-Python-Path-Not-Found-Error-when-trying-to-save-program Thanks!]]> Thanks!]]> <![CDATA[How to get the curve object generated by RoboDK CAM Machining Project]]> https://robodk.com/forum/Thread-How-to-get-the-curve-object-generated-by-RoboDK-CAM-Machining-Project Wed, 11 Mar 2026 11:18:50 +0000 b05611018]]> https://robodk.com/forum/Thread-How-to-get-the-curve-object-generated-by-RoboDK-CAM-Machining-Project I am currently exploring RoboDK's CAM / Machining Project workflow.
I would like to ask whether it is possible to access the curve object that is internally generated from the machining settings.
From what I observed, the Machining Project seems to compute the number of points along the toolpath / curve, so I assume there is some internal curve or point sequence being created.
My question is:
  • Is there any API method to retrieve that generated curve object directly?
  • If not, is there any way to access the corresponding points / path data that the machining settings produced?
Thank you!]]> I am currently exploring RoboDK's CAM / Machining Project workflow.
I would like to ask whether it is possible to access the curve object that is internally generated from the machining settings.
From what I observed, the Machining Project seems to compute the number of points along the toolpath / curve, so I assume there is some internal curve or point sequence being created.
My question is:
  • Is there any API method to retrieve that generated curve object directly?
  • If not, is there any way to access the corresponding points / path data that the machining settings produced?
Thank you!]]> <![CDATA[Program unable to generate depending on creation order]]> https://robodk.com/forum/Thread-Program-unable-to-generate-depending-on-creation-order Thu, 26 Feb 2026 15:59:59 +0000 Elie_Roy]]> https://robodk.com/forum/Thread-Program-unable-to-generate-depending-on-creation-order
I’m creating a bunch of programs, but I can only generate them if the tools are processed in a specific order.

If I generate a program using a mill and then generate a saw program, the mill program won’t generate correctly and I get an error message. However, if I generate the saw program first and then the mill program, everything works fine.


I can generate multiple mill programs back-to-back without any issues, but as soon as I switch from mill to saw, everything breaks. At that point, I would need to manually update each mill program, which I can’t do because they would lose their I/O calls and my speed-call modifications.

All of these programs are then called from a main program.

In my programs the set tool and set frame is called before any type of moves.

Any suggestions ?

Both Mill and Saw programs are built about the same way.

Cheers

.png   Screenshot 2026-02-26 104741.png (Size: 58.23 KB / Downloads: 42)

.png   Screenshot 2026-02-26 102930.png (Size: 31.7 KB / Downloads: 52)

.png   Screenshot 2026-02-26 095335.png (Size: 52.01 KB / Downloads: 52)

.png   Screenshot 2026-02-26 095322.png (Size: 51.54 KB / Downloads: 44) ]]>
I’m creating a bunch of programs, but I can only generate them if the tools are processed in a specific order.

If I generate a program using a mill and then generate a saw program, the mill program won’t generate correctly and I get an error message. However, if I generate the saw program first and then the mill program, everything works fine.


I can generate multiple mill programs back-to-back without any issues, but as soon as I switch from mill to saw, everything breaks. At that point, I would need to manually update each mill program, which I can’t do because they would lose their I/O calls and my speed-call modifications.

All of these programs are then called from a main program.

In my programs the set tool and set frame is called before any type of moves.

Any suggestions ?

Both Mill and Saw programs are built about the same way.

Cheers

.png   Screenshot 2026-02-26 104741.png (Size: 58.23 KB / Downloads: 42)

.png   Screenshot 2026-02-26 102930.png (Size: 31.7 KB / Downloads: 52)

.png   Screenshot 2026-02-26 095335.png (Size: 52.01 KB / Downloads: 52)

.png   Screenshot 2026-02-26 095322.png (Size: 51.54 KB / Downloads: 44) ]]> <![CDATA[Is there an API to fully automate the new RoboDK CAM workflow?]]> https://robodk.com/forum/Thread-Is-there-an-API-to-fully-automate-the-new-RoboDK-CAM-workflow Sat, 21 Feb 2026 09:43:42 +0000 b05611018]]> https://robodk.com/forum/Thread-Is-there-an-API-to-fully-automate-the-new-RoboDK-CAM-workflow      I am currently exploring the new CAM features recently introduced in RoboDK, and they look very promising for advanced robot machining and toolpath workflows.
I would like to know whether these new CAM-related functionalities (such as creating and configuring Machining Projects, loading NC/G-code toolpaths, and setting strategies/parameters) are fully accessible through the RoboDK API for automation purposes.
My goal is to build a fully automated pipeline where:
  • CAM toolpaths are generated externally
  • RoboDK automatically creates a Machining Project
  • All machining parameters (tool, frame, offsets, approach/retract strategies, etc.) are configured programmatically
  • The robot program is then generated and post-processed without manual GUI interaction
From the documentation and examples, I understand that it is possible to create machining projects using functions like "AddMachiningProject"and to load NC files via the API, and also to modify parameters such as tool or frame offsets programmatically.
However, I am not sure if the entire workflow exposed in the new CAM GUI (including all advanced machining settings and strategies) is fully controllable via the API, or if some parts are still GUI-only.
So my questions are:
  1. Is there a complete API coverage for the new CAM features?
  2. Are there recommended best practices to fully automate the CAM → RoboDK → Robot program pipeline?
  3. If some parameters are not yet available via the API, is there a roadmap to expose them in future releases?
Any guidance, examples, or best practices would be greatly appreciated.
Thank you for your continuous development of RoboDK — it is an incredibly powerful platform for automated robotic machining workflows.

Best regards,

YEN-SHUO]]>      I am currently exploring the new CAM features recently introduced in RoboDK, and they look very promising for advanced robot machining and toolpath workflows.
I would like to know whether these new CAM-related functionalities (such as creating and configuring Machining Projects, loading NC/G-code toolpaths, and setting strategies/parameters) are fully accessible through the RoboDK API for automation purposes.
My goal is to build a fully automated pipeline where:
  • CAM toolpaths are generated externally
  • RoboDK automatically creates a Machining Project
  • All machining parameters (tool, frame, offsets, approach/retract strategies, etc.) are configured programmatically
  • The robot program is then generated and post-processed without manual GUI interaction
From the documentation and examples, I understand that it is possible to create machining projects using functions like "AddMachiningProject"and to load NC files via the API, and also to modify parameters such as tool or frame offsets programmatically.
However, I am not sure if the entire workflow exposed in the new CAM GUI (including all advanced machining settings and strategies) is fully controllable via the API, or if some parts are still GUI-only.
So my questions are:
  1. Is there a complete API coverage for the new CAM features?
  2. Are there recommended best practices to fully automate the CAM → RoboDK → Robot program pipeline?
  3. If some parameters are not yet available via the API, is there a roadmap to expose them in future releases?
Any guidance, examples, or best practices would be greatly appreciated.
Thank you for your continuous development of RoboDK — it is an incredibly powerful platform for automated robotic machining workflows.

Best regards,

YEN-SHUO]]> <![CDATA[Do point objects have to be imported at the global level?]]> https://robodk.com/forum/Thread-Do-point-objects-have-to-be-imported-at-the-global-level Wed, 18 Feb 2026 17:36:46 +0000 PhzyksDoesRobots]]> https://robodk.com/forum/Thread-Do-point-objects-have-to-be-imported-at-the-global-level <![CDATA[Incorrect Destination Joints for Linear Move]]> https://robodk.com/forum/Thread-Incorrect-Destination-Joints-for-Linear-Move Wed, 04 Feb 2026 22:48:59 +0000 SamuelEStreamline]]> https://robodk.com/forum/Thread-Incorrect-Destination-Joints-for-Linear-Move
I'm getting an issue where a linear move to a joint target does not move the robot to the correct joint target and also does not flag a reach error.

I've attached an example simulation file.

If you run the TRIM_WIRE_C2_1 program, the last instruction tells the robot to move linearly to target WR_C2_1.

Target WR_C2_1 is a joint target with the following joint values:
Code:
106.300000, -10.800000, -56.000000, -180.000000, 34.200000, 163.700000


However, when the TRIM_WIRE_C2_1 program is executed, the final robot joints are:
Code:
106.300000, -10.800000, -56.000000, 0.000000, -34.200000, -16.300000

Can you explain why the robot is not moving to the correct joints?

.rdk   Config_Issue.rdk (Size: 4.24 MB / Downloads: 87) ]]>
I'm getting an issue where a linear move to a joint target does not move the robot to the correct joint target and also does not flag a reach error.

I've attached an example simulation file.

If you run the TRIM_WIRE_C2_1 program, the last instruction tells the robot to move linearly to target WR_C2_1.

Target WR_C2_1 is a joint target with the following joint values:
Code:
106.300000, -10.800000, -56.000000, -180.000000, 34.200000, 163.700000


However, when the TRIM_WIRE_C2_1 program is executed, the final robot joints are:
Code:
106.300000, -10.800000, -56.000000, 0.000000, -34.200000, -16.300000

Can you explain why the robot is not moving to the correct joints?

.rdk   Config_Issue.rdk (Size: 4.24 MB / Downloads: 87) ]]> <![CDATA[Disable Splitting Linear movements]]> https://robodk.com/forum/Thread-Disable-Splitting-Linear-movements Fri, 16 Jan 2026 19:35:47 +0000 Elie_Roy]]> https://robodk.com/forum/Thread-Disable-Splitting-Linear-movements
I am using accurate kinematics and I can't have Linear splitting along my moves.

I still need to use some rounding due to the use case, but if there are too many moves it only slows down the robot and interfere with my cut speed.

Is there a way to limit/disable splitting linear movement ?

Thanks

Élie]]>
I am using accurate kinematics and I can't have Linear splitting along my moves.

I still need to use some rounding due to the use case, but if there are too many moves it only slows down the robot and interfere with my cut speed.

Is there a way to limit/disable splitting linear movement ?

Thanks

Élie]]> <![CDATA[Function definition missing for some C++ functions]]> https://robodk.com/forum/Thread-Function-definition-missing-for-some-C-functions Wed, 14 Jan 2026 13:34:36 +0000 Kuchinawa]]> https://robodk.com/forum/Thread-Function-definition-missing-for-some-C-functions

I'm trying to use the RoboDK C++ API for a project and I need to use the bool CollisionLine(tXYZ p1, tXYZ p2) function. However, it looks like the implementation for this function is missing in robodk_api.cpp.
Is this intentional? And if so, is there a recommended alternative for performing collision checks between a line segment and the scene geometry?]]>

I'm trying to use the RoboDK C++ API for a project and I need to use the bool CollisionLine(tXYZ p1, tXYZ p2) function. However, it looks like the implementation for this function is missing in robodk_api.cpp.
Is this intentional? And if so, is there a recommended alternative for performing collision checks between a line segment and the scene geometry?]]> <![CDATA[UR Script - In RoboDK simulation]]> https://robodk.com/forum/Thread-UR-Script-In-RoboDK-simulation Tue, 16 Dec 2025 09:44:55 +0000 Yahir]]> https://robodk.com/forum/Thread-UR-Script-In-RoboDK-simulation
I am currently working on my bachelor thesis and using RoboDK to simulate and analyze a process performed by a UR16e cobot. The application involves the separation of hairpin pins in an electric motor stator, and my goal is to better understand the robot motions and process parameters in simulation before testing on the real system.

I already have the URScript program from the real robot, and I would like advice on the best way to use it for simulation in RoboDK. Specifically, I am considering two approaches:
  1. Rewriting the motions in Python using the RoboDK API, or
  2. Rebuilding the robot program by extracting waypoints and recreating the motion sequence directly in RoboDK.
Since the process involves contact and force interaction, I would also appreciate recommendations on how to reasonably approximate force-based behavior in RoboDK (e.g., contact phases, penetration depth, speed changes), knowing that RoboDK is primarily a kinematic simulator.
From your experience, which workflow would you recommend for this type of application, especially in the context of an academic study focused on motion analysis and process optimization?

Thank you very much for your time and advice!]]>
I am currently working on my bachelor thesis and using RoboDK to simulate and analyze a process performed by a UR16e cobot. The application involves the separation of hairpin pins in an electric motor stator, and my goal is to better understand the robot motions and process parameters in simulation before testing on the real system.

I already have the URScript program from the real robot, and I would like advice on the best way to use it for simulation in RoboDK. Specifically, I am considering two approaches:
  1. Rewriting the motions in Python using the RoboDK API, or
  2. Rebuilding the robot program by extracting waypoints and recreating the motion sequence directly in RoboDK.
Since the process involves contact and force interaction, I would also appreciate recommendations on how to reasonably approximate force-based behavior in RoboDK (e.g., contact phases, penetration depth, speed changes), knowing that RoboDK is primarily a kinematic simulator.
From your experience, which workflow would you recommend for this type of application, especially in the context of an academic study focused on motion analysis and process optimization?

Thank you very much for your time and advice!]]> <![CDATA[Item Limit in Collision Map]]> https://robodk.com/forum/Thread-Item-Limit-in-Collision-Map Mon, 08 Dec 2025 20:41:50 +0000 SamuelEStreamline]]> https://robodk.com/forum/Thread-Item-Limit-in-Collision-Map
Is there a maximum number of items that a collision map can consider? At the end of populating a station, I set all the collision pairs using `Robolink.setCollisionActivePair()`. For some of my larger programs (more items) the collision map seems to unintentionally get reset and loose all the mapping. I have run some tests and found that, if I add one more additional item to the station, the collision map gets reset.]]>
Is there a maximum number of items that a collision map can consider? At the end of populating a station, I set all the collision pairs using `Robolink.setCollisionActivePair()`. For some of my larger programs (more items) the collision map seems to unintentionally get reset and loose all the mapping. I have run some tests and found that, if I add one more additional item to the station, the collision map gets reset.]]> <![CDATA[ROS2 Support and Arduino extruder synchronize]]> https://robodk.com/forum/Thread-ROS2-Support-and-Arduino-extruder-synchronize Sun, 07 Dec 2025 13:19:20 +0000 zejian]]> https://robodk.com/forum/Thread-ROS2-Support-and-Arduino-extruder-synchronize
 
Our institute has currently used a RoboDK research license. We are working on 3D printing infill algorithms and slicer extrusion trajectory simulation using a KUKA KRC2 robot.
 
I have three specific technical questions regarding roboDK API functions:
 
1.      Ubuntu and ROS2 environment:
Is roboDK compatible with Ubuntu? Specifically, we aim to run program within a ROS2 environment. Is it possible to import URDF files to control the robot model for real-time, synchronized online manipulation under this OS?
 
2.      Script line limits (Research License):
We plan to try first generating KUKA KRC2 controller motion instructions for large scale 3D printing tasks via Offline Programming in roboDK. Does the standard academy research license impose any limit on the number of lines for the generated program files?
(the generated .src file for full-scale printed object in one-time)
 
3.      External Extruder Synchronization (Arduino + Online Programming)
Now we have a pellet screw 3D printing extruder driven by an Arduino MEGA2560 with a W5500 Ethernet Shield.
Goal: To achieve synchronized both controller motion between the KRC2 robot driver and the stepper motor extruder by roboDK software.
In Online Programming mode, is it feasible to establish a UDP/TCP protocol connection over standard IPv4 networking between the user’s PC (running RoboDK) and the Arduino Ethernet module to synchronize the KRC2 robot motion with the Arduino controlled stepper motor extruder screw speed adjustment?
Which method is relatively simpler to implement and higher reliability?
 
Thank you for your support.
 
Gong, Zejian]]>
 
Our institute has currently used a RoboDK research license. We are working on 3D printing infill algorithms and slicer extrusion trajectory simulation using a KUKA KRC2 robot.
 
I have three specific technical questions regarding roboDK API functions:
 
1.      Ubuntu and ROS2 environment:
Is roboDK compatible with Ubuntu? Specifically, we aim to run program within a ROS2 environment. Is it possible to import URDF files to control the robot model for real-time, synchronized online manipulation under this OS?
 
2.      Script line limits (Research License):
We plan to try first generating KUKA KRC2 controller motion instructions for large scale 3D printing tasks via Offline Programming in roboDK. Does the standard academy research license impose any limit on the number of lines for the generated program files?
(the generated .src file for full-scale printed object in one-time)
 
3.      External Extruder Synchronization (Arduino + Online Programming)
Now we have a pellet screw 3D printing extruder driven by an Arduino MEGA2560 with a W5500 Ethernet Shield.
Goal: To achieve synchronized both controller motion between the KRC2 robot driver and the stepper motor extruder by roboDK software.
In Online Programming mode, is it feasible to establish a UDP/TCP protocol connection over standard IPv4 networking between the user’s PC (running RoboDK) and the Arduino Ethernet module to synchronize the KRC2 robot motion with the Arduino controlled stepper motor extruder screw speed adjustment?
Which method is relatively simpler to implement and higher reliability?
 
Thank you for your support.
 
Gong, Zejian]]> <![CDATA[Post Edit for KRC4 with Sample CSV code]]> https://robodk.com/forum/Thread-Post-Edit-for-KRC4-with-Sample-CSV-code Sat, 06 Dec 2025 19:36:56 +0000 rusterholztc]]> https://robodk.com/forum/Thread-Post-Edit-for-KRC4-with-Sample-CSV-code
.txt   csv.txt (Size: 21.38 KB / Downloads: 79) ]]>
.txt   csv.txt (Size: 21.38 KB / Downloads: 79) ]]>