[Albert]

Hi Marc,

You can wrap the update of the external axis inside another loop to test different positions for the rail (programmatically).

The command program.Update will quickly tell you if the program is feasible so you can keep searching until you find a valid solution.

I updated your sample project to do so.

Albert

Code:

from robolink import * # RoboDK API
from robodk import * # Robot toolbox
RDK = Robolink()

# Retrieve all targets
targets = RDK.ItemList(ITEM_TYPE_TARGET)

# Select a program (automatic selection if you only have one program)
program = RDK.ItemUserPick('Select a program to check and update targets', ITEM_TYPE_PROGRAM)

# Turn off rendering (faster)
RDK.Render(False)

# List some candidates for the external axis (E1, in mm):
Test_E1 = [500, 1000, 1500, 2000, 2500, 3000, 3500, 4000, 4500]
#test_E1 = range(500, 5000, 500)

for e1 in Test_E1:
print("Testing program feasibility for E1:" + str(e1))

# Update all targets to desired e1
for t in targets:
# Set the value of the external axis
# e1 = 5000 # in mm
t.setJoints([0,0,0,0,0,0, e1])

# Recalculate the joint position based on the new position of the external axis
# Robot joints are updated but not external axis
t.setAsCartesianTarget ()
t.Joints()

jnts = t.Joints()
print(t.Name() + "-Joints: " + str(jnts.list()))

# Test the program and make sure it is 100% feasible
valid_ins, prog_time, prog_len, valid_ratio, error_msg = program.Update()
if valid_ratio < 1.0:
print(" Unable to complete the program")
print(" " + error_msg)

else:
print(" Program feasible!")
# stop looking
break

print("Done!")
program.RunProgram()