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+--- Thread: Use External Axis for a great amount of points (/Thread-Use-External-Axis-for-a-great-amount-of-points)
Use External Axis for a great amount of points-BernardoFreire-10-08-2019
Hello all,
I am using the C# API to import a great of points for RoboDK.
In my robotic cell, I have a 6-Axis ABB robot and a Turntable ABB Robot, both linked using the synchronized axis option.
For this specific case, I want to reach the targets using the turntable robot and not the 6-Axis robot, but in the configurations to reach each target doesn't appear a coaxial tool option (the last two joints are fixed).
How can I solve this issue?
提前谢谢你。
RE: Use External Axis for a great amount of points-Albert-10-09-2019
Hi Bernardo,
You should specify the position of your external axes since you are importing targets as poses. You can do so with the setJoints command. You can just impose index 7 and 8 of the joint values. Example:
Code:
joints = [0,0,0,0,0,0,e1,e2]
target.setJoints(joints)
You'll find an example here:
//www.sinclairbody.com/forum/Thread-Python-API-External-Axis?pid=3371#pid3371
Albert