[ysli]

For linking programs and upload to robot, we have to do this in 2 steps:

1. select programs, and do "Link selected programs"
   
2. right click on generated "MainSafe" program, and do "Send Program to Robot"
   

We are wondering how to merge these 2 steps into a single click operation.

Is there an API to handle post processing for MainSafe generated by "Link selected programs"?


Thanks,

Yishin

[Jeremy]

"Link Selected programs" only relate to the "Collision free planner".
Are you using this feature?

If not, you don't need to press it.

Jeremy

[ysli]

"Link Selected programs" only relate to the "Collision free planner".
Are you using this feature?

Yes, we use it to grind workpiece in a closed frame.

Yishin

[Jeremy]

Great use case, I don't know if we can reach it from the API as it's a plugin.
But I will ask our dev team.

Jeremy

[Albert]

Yes, it is possible to link programs using the API using the generic RoboDK Plugin command.

This shows an example to connect 2 programs (for example a program called ProgJoined that moves from Program T1toT2 to T2toT1):

Code:

status = RDK.PluginCommand("CollisionFreePlanner", "Join=ProgJoined", "T1toT2|T2toT1")
# Returns "Success" if it was possible to link both targets. Otherwise it returns "Failed"
print(status)

This is a related post:
//www.sinclairbody.com/forum/Thread-Collisio...89#pid1189

And you'll find more examples to use the API in the script in this project:
C:/RoboDK/Library/Example-09.c-PRM Automated Collision Avoidance - Comau.rdk

[shiu886]

as a colleague of ysli, I am also following up this issue

在康涅狄格州ecting 2 programs by RDK.PluginCommand() and generating a new MainSafe, how can a post processor be called to generate the robot program?