robodk 5.0.2

RoboDK tools for simulating and programming industrial robots (implements the RoboDK API)

RoboDK

The RoboDK package implements the RoboDK API for Python.

This package allows you to interact with RoboDK software for simulation and programming industrial robots. With the RoboDK API for Python it is possible to simulate and program any industrial robot using Python programming language. The RoboDK API provides an alternative to using vendor-specific programming languages.

While RoboDK’s graphical user interface can be used to create programs, it is possible to extend the robot controller limitations by using a universal programming language such as Python.

The RoboDK package includes the following 2 modules:

• The robolink module is the link between RoboDK and Python. Any item from the RoboDK item tree can be retrieved. Items are represented by the object Item. An item can be a robot, a reference frame, a tool, an object or a specific project.

• The robodk module is a robotics toolbox for Python, inspired from Peter Corke’s Robotics Toolbox: http://petercorke.com/Robotics_Toolbox.html.

The following page provides an overview of the RoboDK API for Python: https://robodk.com/offline-programming

RoboDK can be used for a wide range of applications, such as 3D printing, robot machining, synchronizing multiple robots, pick and place.

Useful links:

• RoboDK Website: https://robodk.com/

• Blog: https://robodk.com/blog

• RoboDK API on GitHub: https://github.com/RoboDK/RoboDK-API

• RoboDK App loader plugin: https://github.com/RoboDK/Plug-In-Interface/tree/master/PluginAppLoader

How to install

Type:

pip install robodk

Requirements

RoboDK must be installed to use the Robolink module: * RoboDK Simulation Software: https://robodk.com/download

The Python API can be used with a free RoboDK license.

Example

The following script shows an example that uses the RoboDK package for robot simulation and offline programming:

from robolink import *    # RoboDK's API
from robodk import *      # Math toolbox for robots

# Start the RoboDK API:
RDK = Robolink()

# Get the robot item by name:
robot = RDK.Item('Fanuc LR Mate 200iD', ITEM_TYPE_ROBOT)

# Get the reference target by name:
target = RDK.Item('Target 1')
target_pose = target.Pose()
xyz_ref = target_pose.Pos()

# Move the robot to the reference point:
robot.MoveJ(target)

# Draw a hexagon around the reference target:
for i in range(7):
    ang = i*2*pi/6 #ang = 0, 60, 120, ..., 360

    # Calculate the new position around the reference:
    x = xyz_ref[0] + R*cos(ang) # new X coordinate
    y = xyz_ref[1] + R*sin(ang) # new Y coordinate
    z = xyz_ref[2]              # new Z coordinate
    target_pos.setPos([x,y,z])

    # Move to the new target:
    robot.MoveL(target_pos)

# Trigger a program call at the end of the movement
robot.RunCode('Program_Done')

# Move back to the reference target:
robot.MoveL(target)

The same script used for simulation can be used for robot programming offline. This means a program will be automatically generated for your robot controller to reproduce the movements on the robot. RoboDK supports a large number of robot controllers and it is easy to include compatibility for new robot controllers using Post Processors.

More information about robot post processors here:

• https://robodk.com/help#PostProcessor

• https://robodk.com/doc/en/Post-Processors.html

• https://robodk.com/doc/en/PythonAPI/postprocessor.html

For more Examples using the API:

• https://robodk.com/doc/en/PythonAPI/examples.html

Documentation

• RoboDK package for Python

• Introduction to RoboDK for robot simulation and offline programming

• RoboDK API documentation

Supported robots

The following list includes the robot controllers supported by RoboDK:

• ABB RAPID IRC5: for ABB IRC5 robot controllers

• ABB RAPID S4C: for ABB S4C robot controllers

• Adept Vplus: for Adept V+ programming language

• Allen Bradley Logix5000: for Allen Bradley Logix5000 PCL

• CLOOS: for CLOOS robot controllers

• Comau C5G: for Comau C5G robot controllers

• Denso PAC: for Denso RC7 (and older) robot controllers (PAC programming language)

• Denso RC8: for Denso RC8 (and newer) robot controllers (PacScript programming language)

• Dobot: for educational Dobot robots

• Fanuc R30iA: for Fanuc R30iA and R30iB robot controllers

• Fanuc R30iA Arc: for Fanuc Arc welding

• Fanuc RJ3: for Fanuc RJ3 robot controllers

• GCode BnR: for B&R robot controllers

• GSK: for GSK robots

• HIWIN HRSS: for HIWIN robots

• KAIRO: for Keba Kairo robot controllers

• KUKA IIWA: for KUKA IIWA sunrise programming in Java

• KUKA KRC2: for KUKA KRC2 robot controllers

• KUKA KRC2 CamRob: for KUKA CamRob milling option

• KUKA KRC2 DAT: for KUKA KRC2 robot controllers including DAT data files

• KUKA KRC4: for KUKA KRC4 robot controllers

• KUKA KRC4 Config: for KUKA KRC4 robot controllers with configuration data in each line

• KUKA KRC4 DAT: for KUKA KRC4 robot controllers including DAT data files

• Kawasaki: for Kawasaki AS robot controllers

• Mecademic: for Mecademic Meca500 robot

• Motoman/Yaskawa: For Motoman robot controllers (JBI II and JBI III programming)

• Mitsubishi: for Mitsubishi robot controllers

• Nachi AX FD: for Nachi AX and FD robot controllers

• Daihen OTC: for Daihen OTC robot controllers

• Precise: for Precise Scara robots

• Siemens Sinumerik: for Siemens Sinumerik ROBX robot controller

• Staubli VAL3: for Staubli VAL3 robot programs (CS8 controllers and later)

• Staubli VAL3 InlineMove: to generate Staubli VAL3 programs with inline movement data

• Staubli S6: for Staubli S6 robot controllers

• Toshiba: for Toshiba robots

• Universal Robots: for UR robots, generates linear movements as pose targets

• Universal Robots RobotiQ: for UR robots including support for RobotiQ gripper

• Universal Robots joints: for UR robots, generates linear movements as joint targets

• Yamaha: for Yamaha robots

App loader Plug-In

Once you have a script working in Python you can easily set it up as an App using the App loader plug-in. RoboDK Apps allow you to customize the RoboDK software environment for simulation and offline programming. RoboDK Apps can be easily distributed for production. More information here:

• Load scripts as plug-ins in RoboDK

Linting (source-code checker)

Pylint is a source-code, bug and quality checker for Python programming. Pylint is integrated by default when using RoboDK’s default settings (VScode/VScodium text editor).

If you prefer using other text editors you can use the pylint_robodk module with Pylint for linting. The following argument must be passed to pylint to activate this feature:

• –load-plugins=pylint_robodk