[SamuelEStreamline]

Hi,

I have synchronized motion between a 6-axis robot and a 2-axis turntable. I need to set up joint targets at the preferred start location for a curve follow project.

I need to calculate the cartesian x, y, z coordinates of the tool path start point.

Is there a way to extract these coordinates from the simulation? Since RoboDK is able to render the toolpath visible, the start/end coordinates of the toolpath should be stored somewhere in the program.

How do I extract these coordinates from through the API?

我有附图片说明。

Thank you,
Samuel

[Albert]

You should be able to call JointLimits on a program and this will return the start and end joints of a program respectively:
//www.sinclairbody.com/doc/en/PythonAPI/robo...ointLimits

I believe this behavior is not documented but we won't remove this feature in future versions.

[SamuelEStreamline]

Hi Albert,

JointLimits() is an interesting method but I am not looking for the robot joint limits for this problem.

I am trying to retrieve the cartesian x, y, z coordinates at the start point of a curve follow project. Is there a way to do this without having to develop equations?

I tried to attach a picture to help explain.

[SamuelEStreamline]

You should be able to call JointLimits on a program and this will return the start and end joints of a program respectively:
//www.sinclairbody.com/doc/en/PythonAPI/robo...ointLimits

I believe this behavior is not documented but we won't remove this feature in future versions.

Hi Albert,

I realize now after talking to Jeremy that you DID answer my question. I just did not understand fully understand how JointLimits was supposed to work. My apologies.

[Albert]

Great, thank you for letting me know!

In the future, if you have sample code it may be easier to understand each other with a simple script and work on a small proof of concept.