This section describes the main interfaceof RoboDK, including the robot panel and the main menu. The main window ofRoboDK displays the following components:
o The Main Menu is located at the top. Allavailable actions and options are available from this menu.
o TheToolbar contains graphical icons that allow quick access to frequently usedactions in the menu. More information available in the Toolbar section.
o The StationTree lists all the components (items) that are present in the station. Theseitems can be robots, tools, objects, targets or specific settings formanufacturing or calibration purposes. The tree allows understanding andmodifying the dependency that exists in the real environment. For example, atarget can be attached to a specific reference frame, this reference frame canbe attached to the robot base frame, robot tools are usually attached to therobot, etc.
o The Status Baris located at the bottom and may display useful tips for certain operations.
o The 3D view(Main Screen) displays the view in a 3D virtual environment and reproduces theStation Tree with its hierarchy
Tip:Selecting (or double clicking) an item in the 3D view will have the same effectas selecting (or double clicking) in the item in the Station Tree andvice-versa.
Double clicking an item (in the tree or the3D view) will display a new window with the item’s properties. For example,double clicking a robot will display the RobotPanel. These windows can be closed by selecting the cross at the top rightof the sub window.
As an exception, double clicking a targetwill move the robot to that target. If a target is just selected once (insteadof double clicked) the robot will simulate a linear or a joint movement fromits current position to that target.
Tip: HoldCtrl down while moving the mouse wheel to change the size of the station tree.Set Tools➔Options➔Set Default Settings to revert to the default size.
Double click a robot in the item tree (orin the 3D view) to open the robot panel.
It is possible to jog the robot axes fromthe Joint axis jog section and enter specific joint axis values in thetext boxes. These values and the robot position matches with the robotcontroller values. Double click the joint limits to modify the robot axis limits.By default, RoboDK uses the hardware limits from the robot manufacturer’sspecifications. Some applications may require more constrained axis limits(software limits). The joint values can be copied or pasted asa list of values, using the corresponding buttons in that section.
The Cartesian Jog section displays all theinformation related to the robot kinematics:
o The ToolFrame (TF) with respect to the Robot Flange (FF) defines where the selectedTool Frame is located with respect to the Robot Flange. The Robot Flange isalways the same, however, the Tool Frame changes depending on the tool that ismounted on the robot. This relationship is also known as UTOOL, ToolData orjust Tool in most robot controllers. The Robot Tool is also known as the TCP(Tool Center Point). The Selected Tool becomes the “Active” tool. The activetool is used when creating new targets and programs. The selected tool displaysa green mark in its icon:
Note:Modifying the Tool Frame in the robot panel will modify the position of theselected/active tool. This has the same effect as modifiying the tool from the Robot Tool settings.
o The ReferenceFrame (RF) with respect to the Robot Base (BF) defines where the Referenceframe is located with respect to Robot Base Frame. The Robot Base Frame nevermoves, however, different Reference Frames can be used to position any objectswith respect to the same Robot Base Frame. This relationship is also known asUFRAME, WorkObject MFRAME or Reference in most robot controllers. The selectedreference frame in the robot panel becomes the “Active” reference frame. Theactive reference frame is used as a reference for new targets and robotprograms. The selected reference frame displays a green mark in its icon:
Note:Modifying the Reference Frame in the robot panel will modify the position ofthe selected/active Reference Frame. This has the same effect as modifiying theReference Frame from the Reference Frame settings.
o The Tool Frame(TF) with respect to the Reference Frame (RF) shows the position of the activeTCP with respect to the active reference frame for the current position of therobot. Modify this value to move the robot. The joint axes are recalculatedautomatically. These Cartesian coordinates are recorded when a new target iscreated (Program➔Teach Target),together with the robot axes. The target is also attached to the Activereference frame.
Tip: Usingthe mouse wheel on top of each colored case with the coordinates will updatethe value and move the robot.
A list of possible configurations isavailable in the Other configurations section. The robot configurationdefines a specific state of the robot without crossing any singularities.Changing the configuration requires crossing a singularity. More informationavailable in the Robot Configurationssection.
Finally, the Parameters button atthe top right allows making some kinematic adjustments, selecting the preferredpost processor or extract accurate parameters after a robot calibrationproject. Modifying these values should only be required in specificcircumstances.
Double click a Robot Tool to seemore details about that tool and modify the position of the Tool Frame (alsoknown as Tool Center Point, or TCP) with respect to the robot flange.
Note: TheTCP pose can also be modified from the RobotPanel.
Selecting More options… allowsapplying a scale factor to the geometry of the tool or move the geometry withrespect to the robot flange. Altering these values has no impact on robotprograms. The geometry is used for display purposes and collision checking.(keeping the TCP intact).
Tip: It ispossible to provide the position of the TCP with respect to another TCP byselecting that reference TCP instead of the robot flange. For example, a cuttertool can be defined at a specific distance along the Z axis with respect toanother TCP that represents the spindle. This example provides more details.
Double click a Reference Frame tosee more details about that reference frame and modify its position withrespect to the robot base frame or any other reference frame available in thestation. By default, the coordinates displayed (pose) are relative to theparent of the reference frame (in this example, the robot Base Frame).
Note: TheReference Frame can also be modified from the Robot Panel.
Multiple reference frames can be related toeach other to build the dependency that exists in a real application. Forexample, a table can have a specific position with respect to the robot. Then,two or more objects in the table can have a specific position with respect tothe table reference. Moving the table reference will not alter the relationshipbetween the objects and the table but will alter the relationship of all theobjects with respect to the robot. The following image shows such an example.
Tip: It isrecommended to move objects using reference frames. In this case, it is easierto move them in the station and use the same reference frame as a reference forthe robot targets.
Robot targets allow recording specificrobot positions so that the robot can be moved to that location. To add a newtarget and see the information attached to it:
o Select Program➔Teach Target (Ctrl+T) tocreate a new target.
This will record the current position of the robot using the active referenceframe
o Right click atarget, then select More Options… (F3) to see the recorded pose andjoint values.
Creating a new target records the TCP withrespect to the reference frame in the Cartesian space as well as the currentrobot axes. By default, RoboDK creates targets as Cartesian targets (Keepcartesian position ). In this case, if the reference frame ismoved, the robot will try to reach the position of the target with respect tothat reference frame.
On the other hand, it is possible tospecify the target in the joint space (Keep joint values ). Inthis case, the target is an absolute robot position and it will not be alteredif reference frames are moved.
It is common practice to use joint targetsto reach a first approach position close to the working area, then, Cartesiantargets ensure that the toolpath is not altered if the reference frame or thetool frames are modified.
Tip: SelectingMove to target will have the same effect as selecting that target in thetree or the 3D view.
It is possible to see other configurationsto reach the same pose with the robot. More information in the next section.
One robot configuration defines a specificstate of the robot. Changing the configuration requires crossing a singularity.Robot controllers can’t cross a singularity when a linear movement is beingmade (a joint movement would be required for that). In other words, toaccomplish a linear movement between two targets the robot configuration mustbe the same for the complete movement, including the first and last points.
Right click a robot and select Changeconfiguration to open the robot configurations window. It is also possibleto open this window by selecting More options in the robot panel.
For a standard 6-axis robot there are typically8 different configurations for any position of the robot if we assume eachrobot axis can move one full turn. In practice, joint limits can be more orless constrained depending on the robot. Therefore, it may be possible to havefrom 1 to more than 100 different robot configurations for a specific locationdepending on the robot.
One robot configuration defines a specificway (assembly mode) of reaching a position with the robot. For example, therobot can have the elbow up or the elbow down (Up vs. Down, or U/D), at the sametime it can be facing the target or the base can rotate 180 degrees to reachthe target backwards (Front vs. Rear, or F/R). Finally, joint 5 can flip byswitching the sign at the same time axis 4 and axis 6 compensate for that move(Flip vs. Non-Flip, or F/N). In total, this provides the 2*2*2=8configurations.
Objects can be imported from generic fileformats such as STL, STEP or IGES format. Double click an object in the tree orthe 3D view to open the settings window.
It is possible to set or view the positionwith respect to any reference frame. However, objects are usually set up onreference frames and it is recommended to move the reference frame if an objectneeds to be moved. Objects can also be grabbed by robot tools after a certainsimulation event occurs.
The More options… menu allowschanging the object color, applying a scale factor or moving the geometry withrespect to its own reference frame.
Tip: It ispossible to merge multiple objects in one by selecting two or more objects(holding Ctrl key), then, right click and select Merge.
The main menu contains all the optionsavailable. The Main menu is divided in the following sections:
1. File menu: Allows importing newfiles (3D geometry, robots, tools, toolpaths, …) and opening or saving RoboDKprojects (RDK file extension).
2. Edit menu: Allows tocut/copy/paste an item or a group of items and do undo/redo actions.
3. Program menu: Allows creatingor modifying robot programs and other related options for Offline Programming(OLP).
4. View menu: Provides useful actionsto navigate in 3D and set up specific views.
5. Tools menu: Provides generaltools such as checking for collisions, measuring points, or opening the mainoptions.
6. Utilities menu: Allowsperforming specific operations such as using robots for manufacturingoperations, calibrating a TCP or a reference frame, using robots as a 3Dprinter or as a 5-axis CNC, calibrate a robot... These operations might requirea specific license option.
7. Connect menu: Allows connectingto a robot, a measurement system or simulate cameras.
8. Help menu: Allows opening theonline documentation (F1), check for updates or set up a license.
It is possible to Open, Save or export documentsfrom the File menu.
NewStation will add a new station in the tree. One station can be loaded orsaved as one RDK file. The RDK file (RDK extension) holds all the informationabout the robots and objects so it is not required to keep a separate copy ofthe imported items.
Tip: It ispossible to have more than one Station open at the same time. Double clickingthe station icon in the tree will display that station.
Open will load a new RoboDK file (RDK Station) or import anyother recognized file formats, such as .robot for robot files, STEP/IGES/STLfor objects, .tool for tool files, etc.
Openonline library will show a new window with the library available online.
SaveStation will save the RDK file. Select Save Station as… toprovide the file location.
Makea demo station will export the station as an EXE file with a simplifiedversion of RoboDK.
ExportSimulation will export a specific program or simulation as a 3D PDF or 3DHTML file. Example.
Undo (Ctrl+Z) and Redo (Ctrl+Y) actions areaccessible from the Edit menu. The undo stack is also available and allowsreverting changes, backwards or forward, to a specific state by selecting theaction.
It is also possible to cut(Ctrl+X), copy (Ctrl+C) or paste (Ctrl+V)one item or a group of items from the station tree. If an item is copied, allthe items attached to it are also copied.
Tip: It ispossible to group similar actions in one. For example, if the robot is movedmanually, every small step is recorded (by default). To group all the smallsteps in one: select Tools➔Options➔check Bundle similar actions together.
The program menu contains all thecomponents related to Offline Programming (OLP) and program generation. It ispossible to add new programs, reference frames, targets or tools to robots.These Offline Programming components (reference frames, tools, targets, etc.) appearon all programs generated offline.
AddReference Frame will add a new reference frame attached to the station rootor attached to another reference frame if that reference frame was selected.
Addempty tool will add a new TCP to a robot. No geometry is required to add anew tool. Multiple Tools allow referencing different parts of the same geometrylinked to one tool.
TeachTarget (Ctrl+T) will add a new target to the Active reference frame for theActive robot tool. The active reference frame and active tool can be selectedin the robot panel. It is also possibleto right click a reference frame or a tool to make them active.
TeachTargets on Surface (Ctrl+Shift+T) will allow the user to select points ofan object to easily create targets. An example is available in this section.
AddProgram will add a new program that can be createdusing the RoboDK Graphical User Interface (GUI). No programming experience isrequired to create or modify this type of robot program. The robot program canbe simulated and generated for a specific robot, automatically and easily.
The Program Instructions section ofthe Offline Programming document provides more information about available programinstructions through the GUI.
AddPython Program option will include a sample Pythonprogram/macro/script/module in the station that links to the RoboDK API. APython program using the RoboDK API allows creating robot programs from genericprogramming code (Python). It is possible to deploy these programs for anyspecific robot controller. It is also possible to simulate specific tasks toextend the GUI programs. These tasks can be robot subprograms for offlineprogramming, online programming or simply simulate specific events such asmaking objects appear automatically at random spots for a pick and placesimulations. A Python program is like a text file embedded in the station andcontains Python code to automate specific tasks in RoboDK. The RoboDK API isdeployed using Python by default but other programming languages can be used tointerface with RoboDK.
Note: Thedifference between a normal program (using Add Program) generated usingthe Graphical User Interface (GUI) and a Python program (using Add PythonProgram) is that the first does not require programming experience. On theother hand, a Python macro using the RoboDK API allows extending the limits ofa program generated using the graphical user interface.
Finally, it is possible to Add orEdit Post Processors. Post Processors define the way programs are generatedfor a specific robot controller, allowing to accommodate vendor-specificsyntax. Post Processors are final component of the offline Programming Process.
Most options required to navigate in 3D areavailable from the View menu. It is possible to Rotate, Pan and Zoom from thismenu (as well as by right clicking the 3D view). This is useful for navigatingin 3D using a laptop touchpad (instead of a mouse).
To allow a free rotation in any directionuncheck the option: View➔Align rotation. Otherwise, RoboDK locks the station reference tokeep the XY plane horizontal by default.
It is possible to show or hide the robotworkspace by selecting the asterisk key (*). It is also possible to switchbetween visible and invisible items by selecting the F7 key.
Tip: It ispossible to make the reference frames bigger or smaller by pressing the + or –key multiple times. If a lot of items are visible this is useful to adjust thesize of the reference frames and properly grab them if they need to be movedfrom the 3D view (by holding the ALT key for example).
Generic tools are available in the Toolsmenu, such as taking snapshots of the 3D view, activating the robot trace,activate collision checking or measuring point coordinates.
Activating the Trace willshow the trace of all robots as they move.
Check collisions will activate ordeactivate collision checking. When collision checking is activated, objects thatare in a collision state will be displayed in red. TheCollision map allows specifying what object interactions are being checked.
Note: Moreinformation available regarding collision detection in the Collisions section.
Changecolor tool will display a small window that allowschanging the color of robots and objects. It is also possible to flip thenormal vectors of surfaces.
Measurewill display a window that allows measuring points in 3D with respect to alocal reference frame or the station reference frame (absolute measurements).
It is possible to specify the language ofthe RoboDK application by selecting Tools➔Language and select the preferred language. RoboDK will be displayed in the selectedlanguage immediately.
Toolbar Layout allows setting up the default toolbar. Alternatively, it is possibleto specify a toolbar for a more basic or more advanced usage.
Select Options to open themain options menu. More information available in the Options Menu section.
The utilities menu allows performingspecific tasks:
CalibrateTool frame (TCP) allows calibrating a robot TCP byproviding data from the real setup, such as the joint configurations to reach apoint using different orientations. This procedure is usually available frommost robot teach pendants. RoboDK allows calibrating a TCP with as manyconfigurations as desired. Using more configurations allows obtaining a moreaccurate TCP value. Read more about TCPcalibration.
CalibrateReference Frame allows identifying a referenceframe with respect to a robot base frame. This allows accurately matching thepart from the real setup to the virtual environment. Read more about Reference Frame calibration.
SynchronizeExternal Axes allows setting up one or more externalaxes and a robot as one robot mechanism. More information available in the External Axes section.
RobotMilling project can easily convert machinetoolpaths to robot programs. RoboDK can import programs made for 5-axis CNCusing CAM software, such as generic G-code or APT files. Theseprograms/toolpaths can be easily simulated and converted to robot programs withRoboDK. More information available in thissection.
The Curve follow project islike a Robot Milling project but it allows selecting curves extracted from 3Dgeometry as toolpaths. It is also possible to select Import Curve toimport 3D curves from CSV or TXT files. These curves must be provided as a listof XYZ points and, optionally, IJK vector. More information available in the curve follow project section.
The Point follow project islike a Robot Milling project but it allows selecting points extracted from 3Dgeometry and easily create a robot toolpath. It is also possible to select ImportPoints to import 3D points from CSV or TXT files. These points must beprovided as a list of XYZ points and, optionally, IJK vector. More informationavailable in the point followproject section.
Select 3D print project to generatea robot 3D printing program for a specific object. The object must be availablein the RoboDK station. The 3D printing toolpath is converted to G-code behindthe scenes using a Slicer and then treated like a 3-axis machining toolpath.More information available in the robot3D printing section.
The Ballbar Accuracy test allows checkingthe robot performance using a Telescoping Double Ballbar device. Moreinformation about robot ballbar testing available here: https://robodk.com/ballbar-test.
CalibrateRobot allows setting up a robot calibration projectto improve robot accuracy and find robot error parameters. A calibrated robotcan be used in any RoboDK Offline Programming project. Robot calibrationusually improves robot accuracy by a factor of 5 or better, depending on therobot model. Robot calibration requires using measurement systems to take robotmeasurements. Robot accuracy and repeatability can be tested with ISO9283before and/or after calibration. More information about robot calibration andperformance testing here: https://robodk.com/robot-calibration.
Note: Someof these tools might require a specific license that extends the defaultoffline programming license.
It is possible to connect to a robot andenter the connections parameters, such as the robot IP, FTP username and FTPpassword. Setting up a robot connection allows transferring programs throughFTP or running programs directly from the PC for certain robots through supportedrobot drivers in RoboDK. New robot drivers can be developed by end users, moreinformation available in the robotdrivers section.
It is also possible to connect to supportedmeasurement systems such as laser trackers or the Creaform Optical CMM. Thisallows to fully automate robot calibration and performance testing.
Help(F1) opens this documentation online. A PDF versionof the documentation is available for download at the top of each section. Whenyou press F1, RoboDK displays the Help topic related to the itemcurrently selected.
Select Check for updates… to checkif an update is available. A message will pop up with a recommended update orjust notifying that the current version is already up to date. If no messagepops up it means that a firewall is blocking communication between RoboDK andinternet.
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