<![CDATA[RoboDK Forum - RoboDK API]]>

<![CDATA[RoboDK Forum - RoboDK API]]> https://robodk.com/forum/ Sat, 05 Sep 2026 15:08:14 +0000 MyBB <![CDATA[Physical Robot Does Not Move When Using Ultralytics YOLO in RoboDK Python Script]]> https://robodk.com/forum/Thread-Physical-Robot-Does-Not-Move-When-Using-Ultralytics-YOLO-in-RoboDK-Python-Script Wed, 19 Aug 2026 12:14:34 +0000 Muhammad Faizan Ahmed]]> https://robodk.com/forum/Thread-Physical-Robot-Does-Not-Move-When-Using-Ultralytics-YOLO-in-RoboDK-Python-Script
I am currently working on a project in RoboDK involving two JAKA collaborative robots (Zu7 and Zu12). I am using a Python script in RoboDK to control the robots and integrate a real-time vision system using a USB webcam and a YOLO11n model.

My robot movement program works correctly and the physical robots move as expected when I run the script without the YOLO/Ultralytics import.

However, when I add:

Code:
from ultralytics import YOLO

the RoboDK simulation continues to work, but the physical robots do not move. Interestingly, if I comment out the Ultralytics import, the physical robot movement works again.

I am using:

RoboDK
Python 3.10.11
Ultralytics
OpenCV
YOLO11n
JAKA Zu7 and Zu12

The Ultralytics package is installed in the same Python virtual environment used by RoboDK, and importing YOLO works successfully in a standalone Python test.

My intended workflow is:

Move the robots to predefined positions using RoboDK.
Start the webcam-based YOLO11n vision system.
Detect the needle and gripper states.
Based on the detection, continue the robot movement sequence.
Execute the same sequence on the physical JAKA robots.

The main issue is that the RoboDK simulation executes the movements, but the physical robot does not move when Ultralytics is imported.

Could the Ultralytics/PyTorch libraries interfere with RoboDK's physical robot driver, Python execution, or communication with the robot?
Is there a recommended way to run YOLO/OpenCV vision processing alongside RoboDK's physical robot control without preventing the robot driver from executing?
Would it be better to run the vision processing in a separate Python process/thread and communicate the detection result to the RoboDK script?

Any guidance on how to diagnose this issue would be greatly appreciated. See the attached code file for reference.
Thank you.

.txt

Complete Code.txt (Size: 17.49 KB / Downloads: 16) ]]>
I am currently working on a project in RoboDK involving two JAKA collaborative robots (Zu7 and Zu12). I am using a Python script in RoboDK to control the robots and integrate a real-time vision system using a USB webcam and a YOLO11n model.

My robot movement program works correctly and the physical robots move as expected when I run the script without the YOLO/Ultralytics import.

However, when I add:

Code:
from ultralytics import YOLO

the RoboDK simulation continues to work, but the physical robots do not move. Interestingly, if I comment out the Ultralytics import, the physical robot movement works again.

I am using:

RoboDK
Python 3.10.11
Ultralytics
OpenCV
YOLO11n
JAKA Zu7 and Zu12

The Ultralytics package is installed in the same Python virtual environment used by RoboDK, and importing YOLO works successfully in a standalone Python test.

My intended workflow is:

Move the robots to predefined positions using RoboDK.
Start the webcam-based YOLO11n vision system.
Detect the needle and gripper states.
Based on the detection, continue the robot movement sequence.
Execute the same sequence on the physical JAKA robots.

The main issue is that the RoboDK simulation executes the movements, but the physical robot does not move when Ultralytics is imported.

Could the Ultralytics/PyTorch libraries interfere with RoboDK's physical robot driver, Python execution, or communication with the robot?
Is there a recommended way to run YOLO/OpenCV vision processing alongside RoboDK's physical robot control without preventing the robot driver from executing?
Would it be better to run the vision processing in a separate Python process/thread and communicate the detection result to the RoboDK script?

Any guidance on how to diagnose this issue would be greatly appreciated. See the attached code file for reference.
Thank you.

.txt

Complete Code.txt (Size: 17.49 KB / Downloads: 16) ]]> <![CDATA[Not generating output file using API]]> https://robodk.com/forum/Thread-Not-generating-output-file-using-API Wed, 05 Aug 2026 14:41:04 +0000 samrobodk]]> https://robodk.com/forum/Thread-Not-generating-output-file-using-API
The problem I am having is that no file is created, and I am at a complete loss. I have tried 100+ variants and looked at every doc and example I can find.

Manual program generation and MakeProgram() both work, but I need the stream recorded instead.

ProgramStart returns 0 errors, but no robot program file is generated after RDK.Finish().

I reproduced the same issue with a clean ABB station using ABB_RAPID_IRC5 and separately with FANUC using Fanuc_R30i.

Is there an additional step required when using RUNMODE_MAKE_ROBOTPROG and ProgramStart, , or am I misunderstanding the intended use of this run mode?

RoboDK 6.0.6, Python 3.13, robodk package 5.9.4.

Code:

Code:
from robodk.robolink import *

import time

RDK = Robolink()

RDK.AddFile("C:/Users/Sam/code/robodk_stations/test_station.rdk")

robot = RDK.Item("ABB CRB 1300-7/1.4", ITEM_TYPE_ROBOT)

t1 = RDK.Item("safe_target_1", ITEM_TYPE_TARGET)

t2 = RDK.Item("safe_target_2", ITEM_TYPE_TARGET)

RDK.setRunMode(RUNMODE_MAKE_ROBOTPROG)

errors = RDK.ProgramStart(

    "Prog123",

    "C:/Users/Sam/Downloads/",

    "ABB_RAPID_IRC5",

    robot

)

print("ProgramStart errors:", errors)

robot.MoveJ(t1)

robot.MoveL(t2)

RDK.Finish()

test_station.rdk (Size: 1.65 MB / Downloads: 53) ]]>
The problem I am having is that no file is created, and I am at a complete loss. I have tried 100+ variants and looked at every doc and example I can find.

Manual program generation and MakeProgram() both work, but I need the stream recorded instead.

ProgramStart returns 0 errors, but no robot program file is generated after RDK.Finish().

I reproduced the same issue with a clean ABB station using ABB_RAPID_IRC5 and separately with FANUC using Fanuc_R30i.

Is there an additional step required when using RUNMODE_MAKE_ROBOTPROG and ProgramStart, , or am I misunderstanding the intended use of this run mode?

RoboDK 6.0.6, Python 3.13, robodk package 5.9.4.

Code:

Code:
from robodk.robolink import *

import time

RDK = Robolink()

RDK.AddFile("C:/Users/Sam/code/robodk_stations/test_station.rdk")

robot = RDK.Item("ABB CRB 1300-7/1.4", ITEM_TYPE_ROBOT)

t1 = RDK.Item("safe_target_1", ITEM_TYPE_TARGET)

t2 = RDK.Item("safe_target_2", ITEM_TYPE_TARGET)

RDK.setRunMode(RUNMODE_MAKE_ROBOTPROG)

errors = RDK.ProgramStart(

    "Prog123",

    "C:/Users/Sam/Downloads/",

    "ABB_RAPID_IRC5",

    robot

)

print("ProgramStart errors:", errors)

robot.MoveJ(t1)

robot.MoveL(t2)

RDK.Finish()

test_station.rdk (Size: 1.65 MB / Downloads: 53) ]]> <![CDATA[Unable to get anything from getDI]]> https://robodk.com/forum/Thread-Unable-to-get-anything-from-getDI Mon, 27 Jul 2026 19:47:03 +0000 Muhammad Faizan Ahmed]]> https://robodk.com/forum/Thread-Unable-to-get-anything-from-getDI <![CDATA[Controlling OnRobot Eyes Camera with Python in RoboDK]]> https://robodk.com/forum/Thread-Controlling-OnRobot-Eyes-Camera-with-Python-in-RoboDK Sat, 25 Jul 2026 22:16:40 +0000 Muhammad Faizan Ahmed]]> https://robodk.com/forum/Thread-Controlling-OnRobot-Eyes-Camera-with-Python-in-RoboDK
I'm currently working on a JAKA Zu7 robot with an OnRobot RG6 gripper and an OnRobot Eyes camera.

At the moment, I'm controlling the robot movements and the RG6 gripper successfully using Python scripts both in RoboDK and actual. My next goal is to integrate the OnRobot Eyes camera into my Python workflow.

I would like to know:

Is it possible to control the OnRobot Eyes camera directly from a Python script?
Is there a Python API or SDK available for the camera?
How can I trigger an image capture or object detection from Python?
Once an object is detected, how can I retrieve its pick coordinates (X, Y, Z and orientation) so that I can send them to RoboDK and move the robot to pick the object?
Has anyone integrated the OnRobot Eyes camera with RoboDK while controlling everything through Python?

Is it possible to control the OnRobot Eyes camera directly from a Python script?
Is there a Python API or SDK available for the camera?
How can I trigger an image capture or object detection from Python?
Once an object is detected, how can I retrieve its pick coordinates (X, Y, Z and orientation) so that I can send them to RoboDK and move the robot to pick the object?
Has anyone integrated the OnRobot Eyes camera with RoboDK while controlling everything through Python?

I've gone through the OnRobot Learning courses and documentation but couldn't find any examples showing Python integration with the OnRobot Eyes camera.

If anyone has experience with this setup or can point me to relevant documentation, example code, or a recommended workflow, I would really appreciate your help.

Thank you!]]> <![CDATA[Simulating an imported ABB robot program]]> https://robodk.com/forum/Thread-Simulating-an-imported-ABB-robot-program Wed, 22 Jul 2026 23:24:53 +0000 HenryInUtah]]> https://robodk.com/forum/Thread-Simulating-an-imported-ABB-robot-program
I know that I can simulate them in RoboDK as normal, but there are a lot of steps in our process that happen between authoring the paths and simulating them later.

When I use the Python API to import the mod files, it pops up a couple dialog boxes that get in the way and require user input. I need to suppress those dialog boxes and work around them somehow. Here are the two dialogs:

.png

Import Options.png (Size: 11.72 KB / Downloads: 53)

.png

Import Summary.png (Size: 10.79 KB / Downloads: 56)
The program seems to import perfectly. However, the API says that the program is not valid. If I double click the program in the tree it will run as expected. If I select the program and press F5 it will update the program and the icon returns to "valid". But if the script tries to use the Update() method on the program it fails.

If you open the station, there is a "Import Robot Program" script that goes through all of these steps. I hope that you see the same results that I see :)

Does anyone have some suggestions of what I should try? Or what I am doing wrong - which is more likely.

Thanks,
Henry

.mod

SpindleApproach.mod (Size: 2.51 KB / Downloads: 49)

.mod

SpindleRetract.mod (Size: 2.06 KB / Downloads: 43)

.rdk

Tool Change Development Simplified.rdk (Size: 3.29 MB / Downloads: 47) ]]>
I know that I can simulate them in RoboDK as normal, but there are a lot of steps in our process that happen between authoring the paths and simulating them later.

When I use the Python API to import the mod files, it pops up a couple dialog boxes that get in the way and require user input. I need to suppress those dialog boxes and work around them somehow. Here are the two dialogs:

.png

Import Options.png (Size: 11.72 KB / Downloads: 53)

.png

SpindleApproach.mod (Size: 2.51 KB / Downloads: 49)

.mod

SpindleRetract.mod (Size: 2.06 KB / Downloads: 43)

.rdk

Tool Change Development Simplified.rdk (Size: 3.29 MB / Downloads: 47) ]]> <![CDATA[Alternative way to obtain all IK solutions for FANUC CRX-10iA]]> https://robodk.com/forum/Thread-Alternative-way-to-obtain-all-IK-solutions-for-FANUC-CRX-10iA Wed, 22 Jul 2026 04:48:08 +0000 Shigeaki Takatsu]]> https://robodk.com/forum/Thread-Alternative-way-to-obtain-all-IK-solutions-for-FANUC-CRX-10iA
I am using a FANUC CRX-10iA with RoboDK 5.6.7.

I found the existing forum threads explaining that multiple configurations are
not currently supported for FANUC CRX robots.

I would like to know whether there is any alternative way to obtain all valid
inverse-kinematics solutions for a given Cartesian pose.

In my test, SolveIK_All() returns only one solution.

However, I confirmed that another valid joint posture exists for exactly the
same Cartesian pose. I verified this using SolveFK(), and the pose difference
was effectively zero.

I also tried SolveIK() with the other valid joint posture provided as
joints_approx, but RoboDK still returned the same single solution.

Is there any alternative API, solver, robot model setting, or recommended
method to obtain all valid IK solutions for the CRX-10iA?

Thank you.]]>
I am using a FANUC CRX-10iA with RoboDK 5.6.7.

I found the existing forum threads explaining that multiple configurations are
not currently supported for FANUC CRX robots.

I would like to know whether there is any alternative way to obtain all valid
inverse-kinematics solutions for a given Cartesian pose.

In my test, SolveIK_All() returns only one solution.

However, I confirmed that another valid joint posture exists for exactly the
same Cartesian pose. I verified this using SolveFK(), and the pose difference
was effectively zero.

I also tried SolveIK() with the other valid joint posture provided as
joints_approx, but RoboDK still returned the same single solution.

Is there any alternative API, solver, robot model setting, or recommended
method to obtain all valid IK solutions for the CRX-10iA?

Thank you.]]> <![CDATA[Guidance on PLC Integration and Robot Control in RoboDK]]> https://robodk.com/forum/Thread-Guidance-on-PLC-Integration-and-Robot-Control-in-RoboDK Mon, 20 Jul 2026 10:12:44 +0000 pritesh]]> https://robodk.com/forum/Thread-Guidance-on-PLC-Integration-and-Robot-Control-in-RoboDK
My objective is to build a complete simulation where the PLC communicates with RoboDK, exchanges input/output signals, and controls the robot's movements and program execution in real time.
I would appreciate your guidance on the following:

How to connect a PLC with RoboDK.
Supported communication protocols (such as EtherNet/IP, PROFINET, Modbus TCP, OPC UA, etc.).
How to configure communication between the PLC and RoboDK.
How to send and receive I/O signals.
How to control robot movements and execute robot programs using PLC logic.
Any documentation, tutorials, sample projects, or training resources that explain the complete workflow from start to finish.

I am eager to learn the entire setup and would greatly appreciate any recommendations or learning materials you can provide.]]>
My objective is to build a complete simulation where the PLC communicates with RoboDK, exchanges input/output signals, and controls the robot's movements and program execution in real time.
I would appreciate your guidance on the following:

How to connect a PLC with RoboDK.
Supported communication protocols (such as EtherNet/IP, PROFINET, Modbus TCP, OPC UA, etc.).
How to configure communication between the PLC and RoboDK.
How to send and receive I/O signals.
How to control robot movements and execute robot programs using PLC logic.
Any documentation, tutorials, sample projects, or training resources that explain the complete workflow from start to finish.

I am eager to learn the entire setup and would greatly appreciate any recommendations or learning materials you can provide.]]> <![CDATA[Controlling RG6 gripper using digital output command]]> https://robodk.com/forum/Thread-Controlling-RG6-gripper-using-digital-output-command Mon, 13 Jul 2026 22:19:56 +0000 Muhammad Faizan Ahmed]]> https://robodk.com/forum/Thread-Controlling-RG6-gripper-using-digital-output-command
I'm currently controlling Jaka Zu7 using Python script, running directly in RoboDK. Now, I want to control the OnRobot RG6 gripper which is attached to the robot. I tried to use the following command but it did not work.

Command: robot.setDO(0,1) # first value represents the digital ouput while second shows the control value

I also tried program.setDO(0,1) command and program = RDK.AddProgram(ProgramName) but it also did not work. Kindly guide me how can I control the gripper using python code. Looking forward to hearing from you all. Thank you]]>
I'm currently controlling Jaka Zu7 using Python script, running directly in RoboDK. Now, I want to control the OnRobot RG6 gripper which is attached to the robot. I tried to use the following command but it did not work.

Command: robot.setDO(0,1) # first value represents the digital ouput while second shows the control value

I also tried program.setDO(0,1) command and program = RDK.AddProgram(ProgramName) but it also did not work. Kindly guide me how can I control the gripper using python code. Looking forward to hearing from you all. Thank you]]> <![CDATA[Creating a generic item and setting a custom icon in the tree]]> https://robodk.com/forum/Thread-Creating-a-generic-item-and-setting-a-custom-icon-in-the-tree Mon, 08 Jun 2026 22:46:46 +0000 HenryInUtah]]> https://robodk.com/forum/Thread-Creating-a-generic-item-and-setting-a-custom-icon-in-the-tree
.png

2026-06-08 16 39 32.png (Size: 7.11 KB / Downloads: 121)

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

.png

LargeNext.png (Size: 2.57 KB / Downloads: 155) ]]>
.png

2026-06-08 16 39 32.png (Size: 7.11 KB / Downloads: 121)

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

.png

LargeNext.png (Size: 2.57 KB / Downloads: 155) ]]> <![CDATA[Moving Two Robots Independently]]> https://robodk.com/forum/Thread-Moving-Two-Robots-Independently Tue, 05 May 2026 16:36:55 +0000 HenryInUtah]]> https://robodk.com/forum/Thread-Moving-Two-Robots-Independently
Skipping some steps... the self.RDK = robolink.Robolink(args=["-NEWINSTANCE", "-EXIT_LAST_COM", "-SKIPCOM_ALL"]) command provided a RoboLink instance for our program. That object could be used to move the robot or send a program to the controller. No problems so far.

The next project will use two robots - each with a seventh axis. Each robot will have a separate ABB controller running the RoboDK driver. I expect the RoboDK window to embed using the same steps as before. Each robot in the station can connect and (hopefully) the simulation will echo what is happening in real life as the two robots move. But here is where I get confused.

Consider the example where each robot needs to calibrate an end effector. Our program will move a robot to a position, signal the end effector to do something, then repeat for many positions. This should happen for each robot at the same time - but the two robots are not "synchronized", they are running independently. How do I do this?

The first idea is to start two threads and pass the main RoboLink object to them. The "self.RDK" object created above. Thread "A" will make a reference to "Robot A" using something like self.Robot = self.RDK.Item('RobotA', 2) and move it as needed. Similarly, thread "B" will move RobotB. In reality, they are both using methods in the same RoboLink object (I think). What happens if both threads tell RoboLink to move different robots at the same?

The "Synchronize 3 Robots" example in the documentation also creates a thread for each robot, but the threads then create a new RoboLink instance. How would this work if the RoboDK window (with the initial RoboLink) is embedded in our program? That "embedded RoboLink" is also talking to the drivers to update the display, correct?

I don't feel like I explained this very well - here is some pseudo-code that might help.

Code:
class ApplicationGUI(QtWidgets.QMainWindow):

    def embedRoboSK(self):

        self.RDK = robolink.Robolink(args=["-NEWINSTANCE", "-EXIT_LAST_COM", "-SKIPCOM_ALL"])

        # Stuff happens to embed the window and connect to the robots

    def startTreads(self):

        # Each thread gets a reference to the main RoboLink object and a file of instructions

        self.threadA = calibrationThreadA()

        self.threadA.rdk = self.RDK

        self.threadA.instructions = pathToListOfPositionsA

        self.threadA.start()

        self.threadB = calibrationThreadB(pathToListOfPositionsB)

        self.threadB.rdk = self.RDK

        self.threadB.instructions = pathToListOfPositionsB

        self.threadB.start()

class calibrationThreadA(QThread):

    def __init__(self, parent=None):

        QThread.__init__(self, parent)

    def run(self)

        self.robot = self.rdk.Item('RobotA', 2)

        # Read the self.instructions file and move the robot when needed.

class calibrationThreadB(QThread):

    def __init__(self, parent=None):

        QThread.__init__(self, parent)

    def run(self):

        self.robot = self.rdk.Item('RobotB', 2)

        # Read the self.instructions file and move the robot when needed.

]]>
Skipping some steps... the self.RDK = robolink.Robolink(args=["-NEWINSTANCE", "-EXIT_LAST_COM", "-SKIPCOM_ALL"]) command provided a RoboLink instance for our program. That object could be used to move the robot or send a program to the controller. No problems so far.

The next project will use two robots - each with a seventh axis. Each robot will have a separate ABB controller running the RoboDK driver. I expect the RoboDK window to embed using the same steps as before. Each robot in the station can connect and (hopefully) the simulation will echo what is happening in real life as the two robots move. But here is where I get confused.

Consider the example where each robot needs to calibrate an end effector. Our program will move a robot to a position, signal the end effector to do something, then repeat for many positions. This should happen for each robot at the same time - but the two robots are not "synchronized", they are running independently. How do I do this?

The first idea is to start two threads and pass the main RoboLink object to them. The "self.RDK" object created above. Thread "A" will make a reference to "Robot A" using something like self.Robot = self.RDK.Item('RobotA', 2) and move it as needed. Similarly, thread "B" will move RobotB. In reality, they are both using methods in the same RoboLink object (I think). What happens if both threads tell RoboLink to move different robots at the same?

The "Synchronize 3 Robots" example in the documentation also creates a thread for each robot, but the threads then create a new RoboLink instance. How would this work if the RoboDK window (with the initial RoboLink) is embedded in our program? That "embedded RoboLink" is also talking to the drivers to update the display, correct?

I don't feel like I explained this very well - here is some pseudo-code that might help.

Code:
class ApplicationGUI(QtWidgets.QMainWindow):

    def embedRoboSK(self):

        self.RDK = robolink.Robolink(args=["-NEWINSTANCE", "-EXIT_LAST_COM", "-SKIPCOM_ALL"])

        # Stuff happens to embed the window and connect to the robots

    def startTreads(self):

        # Each thread gets a reference to the main RoboLink object and a file of instructions

        self.threadA = calibrationThreadA()

        self.threadA.rdk = self.RDK

        self.threadA.instructions = pathToListOfPositionsA

        self.threadA.start()

        self.threadB = calibrationThreadB(pathToListOfPositionsB)

        self.threadB.rdk = self.RDK

        self.threadB.instructions = pathToListOfPositionsB

        self.threadB.start()

class calibrationThreadA(QThread):

    def __init__(self, parent=None):

        QThread.__init__(self, parent)

    def run(self)

        self.robot = self.rdk.Item('RobotA', 2)

        # Read the self.instructions file and move the robot when needed.

class calibrationThreadB(QThread):

    def __init__(self, parent=None):

        QThread.__init__(self, parent)

    def run(self):

        self.robot = self.rdk.Item('RobotB', 2)

        # Read the self.instructions file and move the robot when needed.

]]> <![CDATA[Robot is not moving]]> https://robodk.com/forum/Thread-Robot-is-not-moving Tue, 05 May 2026 15:56:23 +0000 weisseran]]> https://robodk.com/forum/Thread-Robot-is-not-moving When I rotate the dial to change the robot orientation, I can see the robot on my screen moving but the real robot is not moving unless I click Move Joint.
It was moving before.
What went wrong ?]]> When I rotate the dial to change the robot orientation, I can see the robot on my screen moving but the real robot is not moving unless I click Move Joint.
It was moving before.
What went wrong ?]]> <![CDATA[Program instruction operations using the API]]> https://robodk.com/forum/Thread-Program-instruction-operations-using-the-API Mon, 27 Apr 2026 17:16:53 +0000 HenryInUtah]]> https://robodk.com/forum/Thread-Program-instruction-operations-using-the-API
However, using program.Instruction(n) returns a tuple. So, I have a tuple and a robodk.robolink.Item with no way to check if they are the same. I cannot use the Item.Type() + Item.Name() because the names are not unique.

I hope that I explained that so it made sense...

This code is part of a PySide app - sorry if it looks a little different.

Code:
    def btnSelectedItem_Clicked(self):

        '''Show information about the selected item in the tree'''

        self.ui.textInfo.clear()

        currentSelection = self.rdk.Selection()

        if len(currentSelection) == 0:

            self.ui.textInfo.append('No items selected')

            return

        item = currentSelection[0]

        itemType = item.Type()

        itemName = item.Name()

        itemParent = item.Parent()

        itemVisible = item.Visible()

        self.ui.textInfo.append(f'{itemName=}')

        self.ui.textInfo.append(f'{itemType=}')

        self.ui.textInfo.append(f'{itemParent=}')

        self.ui.textInfo.append(f'{itemVisible=}')

        self.ui.textInfo.append(f'type={type(item)}')

        # The parent is a program, so it must be an instruction

        if itemParent.Type() == 8:

            instructionCount = itemParent.InstructionCount()

            self.ui.textInfo.append(f'Looping through {instructionCount} instructions...')

            for n in range(instructionCount):

                self.ui.textInfo.append(f'Instruction {n}')

                current = itemParent.Instruction(n)

                # How to compare if item == current?

                # current is a tuple and item is an robodk.robolink.Item

]]>
However, using program.Instruction(n) returns a tuple. So, I have a tuple and a robodk.robolink.Item with no way to check if they are the same. I cannot use the Item.Type() + Item.Name() because the names are not unique.

I hope that I explained that so it made sense...

This code is part of a PySide app - sorry if it looks a little different.

Code:
    def btnSelectedItem_Clicked(self):

        '''Show information about the selected item in the tree'''

        self.ui.textInfo.clear()

        currentSelection = self.rdk.Selection()

        if len(currentSelection) == 0:

            self.ui.textInfo.append('No items selected')

            return

        item = currentSelection[0]

        itemType = item.Type()

        itemName = item.Name()

        itemParent = item.Parent()

        itemVisible = item.Visible()

        self.ui.textInfo.append(f'{itemName=}')

        self.ui.textInfo.append(f'{itemType=}')

        self.ui.textInfo.append(f'{itemParent=}')

        self.ui.textInfo.append(f'{itemVisible=}')

        self.ui.textInfo.append(f'type={type(item)}')

        # The parent is a program, so it must be an instruction

        if itemParent.Type() == 8:

            instructionCount = itemParent.InstructionCount()

            self.ui.textInfo.append(f'Looping through {instructionCount} instructions...')

            for n in range(instructionCount):

                self.ui.textInfo.append(f'Instruction {n}')

                current = itemParent.Instruction(n)

                # How to compare if item == current?

                # current is a tuple and item is an robodk.robolink.Item

]]> <![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:

Is there any API that directly replicates the full behavior of “Link selected programs”, including the automatic generation of safe transition paths?
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: 125) ]]> “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)

Is there any API that directly replicates the full behavior of “Link selected programs”, including the automatic generation of safe transition paths?
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)?

螢幕擷取畫面 2026-03-20 181548.png (Size: 29.52 KB / Downloads: 125) ]]> <![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

Screenshot 2026-03-12 085123.png (Size: 332.11 KB / Downloads: 149) ]]>
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

Screenshot 2026-03-12 085123.png (Size: 332.11 KB / Downloads: 149) ]]>