+- RoboDK Forum (//www.sinclairbody.com/forum)
+-- Forum: RoboDK (EN) (//www.sinclairbody.com/forum/Forum-RoboDK-EN)
+--- Forum: RoboDK API (//www.sinclairbody.com/forum/Forum-RoboDK-API)
+--- Thread: Setting Approach and Retract to [0,0,+Z] thorugh API (/Thread-Setting-Approach-and-Retract-to-0-0-Z-thorugh-API)
Setting Approach and Retract to [0,0,+Z] thorugh API-joebgold-04-07-2021
Hey RoboDK,
Would you be able to inform me about how to set the approach or retract for a program to [0,0,+Z] through the API. I attempted using XYZ with 0 0 {value} however this ended up being the XYZ relative.
Thanks
RE: Setting Approach and Retract to [0,0,+Z] thorugh API-Albert-04-13-2021
We just updated RoboDK to support setting both relative and absolute offsets of your robot machining projects using the RoboDK API.
Similar to your other question here:
//www.sinclairbody.com/forum/Thread-Setting-Multiple-Approach-Retract-options-through-API
You can now do something like this to add relative XYZ and absolute XYZ movements respectively:
Code:
from robolink import *
RDK = Robolink()
m = RDK.Item('', ITEM_TYPE_MACHINING)
print(m.setParam("ApproachRetract", "XYZ 10 20 100 ; AbsXYZ 0 0 200"))
RE: Setting Approach and Retract to [0,0,+Z] thorugh API-joebgold-04-15-2021
Hey Albert,
谢谢你的信息。我有更新和测试工程师ted this however XYZ Abs is not the functionality that I am looking for. I am specifically looking to use the [0,0,+Z] approach option through the API to get the desired response. Can you let me know how to set the [0, 0, +Z] approach through the API?
This is the result from XYZ Abs (incorrect)
This is the result from [0, 0, +Z] (requried)
RE: Setting Approach and Retract to [0,0,+Z] thorugh API-Albert-04-16-2021
You should then use a relative XYZ (same as 0,0,+Z). Example:
Code:
from robolink import *
RDK = Robolink()
m = RDK.Item('', ITEM_TYPE_MACHINING)
print(m.setParam("ApproachRetract", "XYZ 0 0 100"))
RE: Setting Approach and Retract to [0,0,+Z] thorugh API-joebgold-04-19-2021
Hey Albert,
Thanks for the information though this has assisted in identifying an issue that I hadn't noticed. The goal with this was to obtain an approach that would be relative to the robot's reference frame such that it would move in its own +Z for the approach and retract. While the relative XYZ would work for standard parts, a large portion of the parts that we are using through this project are designed in CAD in the +X direction meaning that they are rotated to face upwards in RoboDK. Since this occurs, the relative XYZ (as expected) provides an approach relative to the original part Z axis which does not align with the robot Z axis. Can an approach be added or are there any approaches available that would provide a robot relative Z axis approach?
Thanks,
Joseph