Reference Frames

RoboDK frames

Reference frames allow placing objects with respect to each other. Drag & drop any reference frame or object in the tree to create nested reference frames.

Hold the ALT key to move reference frames with respect to each other. It is also possible to manually enter the translation and rotation values in the format of your choice, including quaternion values and different types of euler rotations. You can select the preferred euler orientation in the menu "Tools-Options-General tab-Default Euler Angles mode". Euler angles for reference frames

Right click the drop-down bar to copy the reference frame as a pose (4x4 matrix), as euler angles or as quaternion values.

Default euler angles

Euler reference frames mode

Quaternion data

Quaternion reference frames mode

Custom translation/orientation

Customized reference frame translation and orientation

Keyboard Shortcuts

Alt Move frames Move reference frames, objects or robots with respect to each other
Alt + Shift Move frames relative Modify tool reference frames
Ctrl + P Move frames relative Take a screenshot
F1 Move frames relative Shows this quick start guide
* Show/hide robot workspace
+ Make frames bigger
- Make frames smaller
/ Show/hide text
Ctrl + 1 Load last file or station
Robot workspace

Robot controls and Simulation

Double click a robot to open the robot panel. The TCP and Reference frames can be modified in this window.

Double click a program to view the simulation slider. Alternatively, you can right click the program and select "Run"/"Stop".

RoboDK simulation

Create a robot tool (TCP)

Robot tools can be easily created by importing a 3D object and drag & dropping it to the robot. The object is then automatically converted into a tool. This procedure can be reversed. You can also import objects in 3D format to model the cell. Accepted 3D formats include STL, IGES and STEP files.

Export a simulation in 3D format

Once we have a simulation ready in RoboDK, we can export it as a 3D HTML simulation or as a 3D PDF. This feature allows you to easily share your simulations with your customers.

Example of a 3D HTML simulation document

Example of a 3D PDF simulation document (3D PDF simulations must be opened with Acrobat Reader, not a browser)

Tip: HTML simulations are larger than PDF simulations, compressing them will considerably reduce their size. The HTML simulation does not have any dependencies and can be shared as one single file.

  • 0:02 Select "File" - "Export Simulation" to export the simulation in your desired format.
  • 0:11 The START button will start recording the simulation.
  • 0:28 The 3D HTML simulation allows you to navigate in 3D and control the simulation time.
  • 0:55 The 3D PDF simulation also allows you to navigate in 3D and control the simulation time.

Create or modify a robot Post Processor

The robot Post Processor defines how the robot programs should be generated. The conversion of the simulator movements to specific robot instructions is done by a Post Processor. Post Processors provide complete flexibility to generate the robot programs for specific requirements.

RoboDK provides Post Processors for most robot brands. Post Processors can be easily created or modified. One Post Processor in RoboDK is simply a Python file that defines how the code should be generated. Each robot brand uses a default post processor that can be modified to customize program generation and better adjust to specific applications.

Tip: Use Python IDLE editor instead of Notepad to quickly test your post processor (select F5 in Python IDLE to see the result of your post processor).

  • 0:17 Once we have a program ready we can right click a program and select "Generate robot program". This will generate the program that must be sent to the robot.
  • 0:35 Create or Modify a post processor by selecting "Program"-"Add/Edit post processor".
  • 0:56 Editing the "Move joint" and "Move linear" commands to obtain the desired results.
  • 1:16 Right click the program and click "Select post processor" to select a post processor.