We have previously introduced the benefits of robotic simulation and offline programming, and why RoboDK is the weapon of the choice for your application. To help you start, we have summerised the ways you can import data into RoboDK to start the project.

RoboDK accepts inputs in the following formats.

Path Data

You can directly input numeric target definitions into RoboDK. Targets also known as waypoints are 3D data to form robotic tool paths, for example a point cloud you acquired from a 3D scanner or an existing robot program with a list of target positions.

A fully defined target is a 3D pose with 6 parameters (3 for position and 3 for orientation) for a robot to align its tool coordinates when executing a path.

Targets can be 3D positions specified by (x, y, z) coordinates only, if the target orientation is not important. In other words, the application requires the tool (TCP) of a robot to reach some points, but does not require the tool to be at particular orientations when reaching them.

RoboDK accepts target data stored in text files (txt or csv). What is more? Geometric entities in plain data format can also be imported directly, such as curves and circles defined by points and normals.

CAD Model

If the CAD model of your workpiece is available, you can import it into RoboDK for targets selection or path extraction.

1. Select targets on surface

Use this tool to directly select targets on the surface of a CAD model. Once the 3D points are selected, you can easily change the tool orientation with RoboDK’s GUI menu to fit your application.

2. Feature extraction

Features on CAD models can be automatically detected in RoboDK. You can extract points such as arc centres or corners, and curves such as edges of an object. It is also possible to change normals, points density on a curve, and the toolpath direction of a curve.

RoboDK accepts CAD models in STEP, IGES or STL format. You can perform simple editing on these models too with RoboDK’s CAD capabilities, such as spliting and merging objects.

Machine Code (CAM)

In Computer Aided Manufacturing (CAM), software packages output into a standard language all CNC machines understand. This is called machine code or G-code which RoboDK also understands!

RoboDK converts machining toolpaths into robot toolpaths. It also reads tool speed, tool direction and change of tool commands. To use a robot as a CNC machine, you can also utilise the robot controller’s I/O to output control operations from M-code commands in the machine code.

3D printing applications are also well supported by RoboDK. G-code files from slicers can be imported like machine code, and extruder commands are dealt with automatically. Additionally, you can integrate the open source Slic3r into RoboDK to seamlessly slice objects before 3D printing.

CAD/CAM Plug-ins

At last but not least, if you are already using popular CAD/CAM software, RoboDK has a number of plug-in tools to help you integrate the workflow even better. Instead of exporting your work from the CAD/CAM package and importing into RoboDK, plug-ins allow you to transfer geometric entities from CAD and programmed machining paths from CAM into RoboDK directly, by pressing one button.

RoboDK has plug-ins for the below CAD/CAM software:

• SolidWorks
• Fusion 360
• Inventor
• BobCAD-CAM
• Solid Edge
• OnShape
• Rhino 3D
• HyperMILL
• MasterCAM
• FeatureCAM
• RhinoCAM (MecSoft)

What is Next?

Once target data are loaded into the RoboDK environment, we can start offline programming, path planning, path optimisation, and collision detection operations and test runs. RoboDK’s inverse kinematics solver automatically works out robot trajectories to achieve target tool paths. Once the trial results are satisfactory, you are ready to output simulation programs from RoboDK. We’ll cover technical details of how to best use RoboDK to generate programs in future articles.

In this article, we have explored the input routes to start your robot simulation and offline programming project. It shows how simple and seamless the workflow can be for you to transform data, workpiece model, and outputs from the CAD/CAM packages you already use into RoboDK, for creating robotic paths.