The launch of RoboDK v6.0 introduces a significant upgrade to the simulation engine, making it easier for users to simulate pick & place and material handling applications, without the need for Python scripting.

Why Simulation Event Instructions?

In RoboDK, Simulation Event Instructions are commands to perform actions in the virtual environment. They act as triggers for simulation-only events, such as attaching an object to the robot tool. Their effects don’t translate into real controller instructions, but rather, to provide a more realistic 3D scene for the simulation. Customers of RoboDK find them useful for managing objects including visibility, organising sequential and synchronised events, and building up scenes over time.

The Original Set

If you have used previous versions of RoboDK, you are likely familiar with the core set of instructions found under Program ➜ Simulation Event Instruction.

• Attach/Detach Object: Option to attach the closest object to a selected tool (TCP) or detach all objects from a selected tool (TCP) and re-parent to a selected reference frame.
• Show/Hide Object: Toggle the visibility of one or more objects, tools, robots, targets, or reference frames in the virtual environment.
• Set Object Position (Absolute/Relative): Record an object’s position to a specific saved coordinate. The position can be absolute or relative to its parent reference frame.

What’s New in v6.0?

The latest update adds five powerful instructions designed to better handle a dynamic workflow, such as a conveyor feeder and stepper, without complex scripting.

1. Set Joints to Home

Resets selected robots or mechanisms (like linear rails) to their predefined Home position.

Use Case: Set every axis back at zero before a new cycle begins.

2. Move Conveyor

Increments a mechanism’s joints by a specific distance (e.g., advancing a belt by 250mm).

Use Case: Simulates indexed movement where a part moves forward a set amount for a specific process step.

3. Create Object

This acts as a Feeder. It duplicates a template object at a specific reference frame repeatedly.

Use Case: Modeling a continuous supply of parts appearing at the start of a conveyor.

4. Remove Objects

Deletes objects from the station that match a specific name and geometry.

Note: You can right-click an object and Lock it to ensure it stays in the station even if a Remove command is executed.

5. Wait for Object (Virtual Sensor)

This turns an object into a sensor. When another object comes into contact with it, one of these actions can be triggered:

• Delete the object in contact with the sensor
• Move the object under a new parent (a reference frame)
• Stop a moving robot or mechanism

The Conveyor Swap Example

To see these instructions in action, find the 17-Conveyor Swap folder in RoboDK’s local library (Default: C:/RoboDK/Library). This example demonstrates how a conveyor transfer workflow is built using only a few instructions, organised in subprograms:

• Reset Simulation: Uses Set Joints to Home and Remove Objects to clear the deck.
• Box Deleter A/B: A sensor at the end of the conveyor triggers Wait and Delete to remove boxes.
• Conveyor Swap: Uses Wait for Object to detect when a box reaches the end of Conveyor A. The event then changes the box’s parent to Conveyor B so it continues moving down the new line.
• Box Feeder: Uses Create Object to generate a flow of boxes.

Conclusion

As part of the RoboDK v6.0 release, we saw new simulation event instructions together with a practical example added to the installation. It is now easier to build sophisticated material handling simulations, like conveyor transfers and part feeders, with zero coding required. Although these instructions are ignored by the post-processor for robot code generation, a logically accurate representation of your 3D workspace cannot be achieved without them.

Download the latest version of RoboDK and try the example!