[Leonardo Cardoso Gonçalves]

I used the Free Colision Map, to optimizate the trajetory in my simulation. And now I need to analise the desplacement of the robot and the variability of the Joit Speed x Cycle Time. So I would like to ask you if it is possible in ROBODK to generate graphics to analise this things or to use MatLab to generate graphics using RoboDK values?

[Albert]

You can't generate graphics in RoboDK. However, you can retrieve some data related to your program using the Update command.

If you have Matlab I recommend you to look at the plot function as it will allow you to create nice charts.

[Leonardo Cardoso Gonçalves]

Thank you very much for the help Albert. I was searching for the Update command in "//www.sinclairbody.com/doc/en/PythonAPI/examples.html#estimated-cycle-time" and I have found "5.11. Estimated cycle time", that use the Update command. And I used in my simulation and now I can see the relation about Joint Speed, Linear Speed and Cycle Time with a lot of values and then I put in MatLab to plot the graphics, was pretty good.

I have only more two questions...I am not so good in phyton progamation, so how can I change the parameters that will be analysed at the Update command, for example, I need to analyse the aceleration x speed, or the movements of each joint, what commands I put to work this ?

And the last question is that I am using a Scara robot (Staubli TS60) in my simulation, is for my final project in my Universiy, so I would like to know about the max speed of the robot. I was seeing the robot datasheet and about the max speed appeared the "max speed for each axis: Axis 1: 450 °/s - Axis 2: 520 °/s - Axis 3: 2100 mm/s - Axis 4: 2020 °/s". So it's posible to change the speed of each axis in ROBODK? Because I would like to put the max speed (linear/joint) of the robot (TS60) in the simulation, but I don't know how.

[Albert]

This example may help you extract a table of cycle time vs. speeds:
C:/RoboDK/Library/Scripts/CycleTimeStudy.py
This example changes the robot speed, if you have an instruction to set the speed it will override your robot speed.

目前not possible to specify per axis speed in RoboDK.

[Leonardo Cardoso Gonçalves]

OK Albert , thank you very much !