Robodk python example pdf. The RoboDK API is available for Python, C#, C++ and Matlab.

Robodk python example pdf. Robot Polishing. 1. The RoboDK API allows simulating and programming any industrial robot (offline and online) - RoboDK/RoboDK-API The RoboDK API allows you to program any insdustrial robot from your preferred programming language. rdk として RoboDK ライブラリにあります（デフォルトの場所： C:/RoboDK/Library/ ）。 ツールバーメニュー RoboDK is a powerful offline simulator for industrial robots. Once you have a path you can double check if there are any collisions and make sure you properly defined your collision map. You can also specify a project in the component options so that the desired RoboDK project is used with each component. Any item from the RoboDK item tree can be retrieved. This example shows the export of a 3D HTML simulation. The RoboDK API allows simulating and programming any industrial robot (offline and online) - RoboDK/RoboDK-API Follow these steps in RoboDK to open the robot model window: 3. Also, the RoboDK library comes with sample Python scripts in the folder Scripts and Macros, available in the default Library (C:/RoboDK/Library/). RoboDK will start and load a sample The following sections show how to create a simple program for simulation, offline programming and online programming respectively. 7. 6. The following script shows an example that uses the robodk package for robot simulation and offline programming. FilterTarget(nominal_pose, estimated_joints) This example is useful if a 3 rd party application (other than RoboDK) generates the robot program using pose targets. Tip: If generating a 3D PDF takes too long, it is recommended to make your project as light as possible before exporting it (follow the tips described in the display performance section). itemlist = RDK. from robolink import * # Robot toolbox. You can easily add time estimation to your program by just loading the CycleTimeDisplayAll. Simulate and convert NC programs to robot programs (G-code or APT-CLS files). Use your robot arm like a 5-axis milling machine (CNC) or a 3D printer. RoboDK Library The RoboDK Library is library that offers a collection of robots, examples, tools, external axes, add-ins and post processors. Example. This section covers the following topics: RoboDK Documentation: General (in English). To add a spot-welding gun with a movable clamping part, the corresponding TCP should be defined, and the mechanism should be attached separately. Select Utilities Model Mechanism or Robot. Most examples that integrate computer vision require some coding to get the full potential of computer vision algorithms. Cet exemple fourni un panel des fonctions clé de RoboDK pour la simulation et la programmation hors ligne, incluant: In RoboDK, adjust the position of the Machining Reference reference frame if needed. Una estación RoboDK contiene todas las configuraciones relacionadas con robots, herramientas, sistemas de referencia, objetos y otros parámetros. Más ejemplos están disponibles en la página API de Python para RoboDK. If you have been provided a RoboDK post processor (PY file) it should be placed in the 'Posts' folder so that it can be selected from RoboDK. RoboDK’s machining project allows you to convert any generic 3 axis or 5 axis manufacturing operation to a robot simulation and a robot program. Open RoboDK – Open a project in RoboDK A new window will open with additional options. Additional RoboDK API examples are included in the following folders: Dieses Beispiel ist in der RoboDK Bibliothek standardmäßig als Tutorial-UR-Painting. This section shows how to export a machining program from Mecsoft RhinoCAM software to RoboDK. Connect to the remote robot control system with the C3 Bridge Interface Server running. This example will show you how to use the RoboDK plugin for SolidWorks. You will learn how to transform a CNC program into a robot simulation and a robot program. Menú Barra de Herramientas La barra de herramientas contiene iconos gráficos que permiten acceder rápidamente a acciones del menú que son utilizadas frecuentemente. This example shows how to use the RoboDK plug-in for Grasshopper by dividing a surface as a grid of points and following them with a robot for a drilling operation in RoboDK: 1. Select File Open. The following examples show some basic usage of RoboDK. Some of these scripts are available in the install folder of RoboDK, see RoboDK/Library/Scripts and RoboDK/Library/Macros. The RoboDK Library can help you easily find and download your robots, look for examples, install addins or learn more about how to configure your post processor to generate program for your controllers. The following video tutorial shows how you can create a 5-axis toolpath for polishing complex surfaces. from robodk import robolink # RoboDK API RDK = robolink. Select OK 2. Undo (Ctrl+Z) and Redo (Ctrl+Y) actions are accessible from the Edit menu. RoboDK integrates with Python and by using a sample script or using the RoboDK API you can improve the result of your simulation. Rather than bamboozling readers with pages RoboDK Documentation: Robots KUKA Start robot program (in English). ; Basic-Guide - Guide (English) Basic-Guide - Install (English) Basic-Guide - Start (English) This example will show you how to use RoboDK for tank welding simulation. The RoboDK driver for UR and RobotiQ allows you to run programs step by step from RoboDK and see the pointer being run anytime from RoboDK. You will learn how to transform a 2D sketch from SolidWorks into a real robot program in less than 15 minutes. This document provides a basic guide to using RoboDK software for robot simulation and offline programming. You can choose between two different methods: One using the feature extraction method and one using the laser cutting features from Fusion 360. Introduction - RoboDK Documentation In this example you’ll learn how to enable the OPC UA addin and convert RoboDK into an OPC UA server. Most of these examples can be easily ported to other programming languages (such as C#, C++, . This section provides some examples to integrate computer vision with your manufacturing process. This documentation is based on the R-30iA Fanuc controller. RoboDK software integrates robot simulation and offline programming for industrial robots. Open the sample Python program SampleOfflineProgramming. This section shows how you can create a collision-free path between 2 points inside the car frame. Send us a sample project and we will help you set it up in RoboDK! 3D HTML または 3D PDF として共有する為の シミュレーションのエクスポート 方法. You should see the reference and the tool defined in the program the same way you defined them in RoboDK. Using forward slashes or A Simulink project is available as an example. Welding with Positionner - RoboDK Documentation RoboDK will automatically handle automatic robot program splitting for large programs depending on the post processor you select. In the RoboDK plugin tab, select RoboDK Update selected operations. RoboDK's Python API를 사용하면 Python을 통해 모든 로봇을 프로그래밍 할 수 있습니다. This example will help you create a project in RoboDK for robot simulation and offline programming. 4. Open the Paint_gun. . […] Python programs can be directly executed on the robot using the same Python code used to simulate the robot (as shown in the Python Simulation section). Send program to robot generates the complete program, transfers it to the robot and starts the program on the real robot (Robot Offline Programming This example will show you how to use the RoboDK plugin for SolidWorks. Tip : You can manage your output activations related to the path in this menu Polish Path 1 Settings Program Events (i. We will use the templates for the welding instructions of the ABB robots. 5. Open the UR10 robot. Python API The RoboDK API allows you to program any insdustrial robot from your preferred programming language. This repository holds the RoboDK Scripts and Macros (examples). The RoboDK API is available for Python, C#/. Robot Welding - RoboDK Documentation This section of the documentation provides an overview of typical operations using a Fanuc robot to prepare a new program in RoboDK and transfer it to the robot. The RoboDK API is available for Python, C#, C++ and Matlab. This example requires using Fusion’s Manufacturing workbench (CAM/machining tools) and will help you use Fusion and RoboDK for robot machining applications. In this example a Motoman robot with a cutting tool is simulated and programmed to machine a simple mold using the robot as a 3-axis machine. It is important to make sure you can connect to the robot to use this feature. In this example the value will be 0,5mm. In the simulation, the robot is moved along a set of XYZ coordinates generated arbitrarily. For example, 6-axis robots can’t cross a singularity following a linear move. Select Program Set Speed Instruction to add a new instruction that changes the speed and/or the acceleration. The robodk package includes the following modules:. This example shows an advanced pick and place simulation. La Programmation Hors Ligne permet de créer, simuler et générer des programmes robots sans avoir besoin d’être connecté à la baie de contrôle du robot (contrôleur robot). Right click your project from RhinoCAM. RoboDK includes an OPC-UA add-in that allows you to add OPC UA compatibility to your RoboDK projects. It introduces key concepts like 3D navigation, reference frames, toolbars, shortcuts, and getting started with a simple painting robot example. Select the RoboDK tab and select Settings. This example shows how to create a 3-axis robot machining project using the Export simulation to 3D PDF; Export simulation to Blender RoboDK API. To use the sample with your robot an rdk file needs to be created using a model of your robot. The Run on robot option is managed automatically when a Python program is run from RoboDK. Select Load Project… 4. Online programming allows running a generic program on a specific robot controller using Robot Drivers: Note: The Generate robot program option will automatically set the RunMode of the RDK/Robolink connection to RUNMODE_MAKE_ROBOTPROG. More examples are available in the Python API for RoboDK page. Contrary to Joint Movements, Linear Movements are sensible to robot singularities and axis limits. Robotic plastic deburring consists of a robot arm removing excess material from plastic molded parts. This example also provides an overview of basic robot concepts, such as how to use reference frames, tools and targets. To run a Python file as a script, select: Tools-Run Script (Shift+S); Select your script and select OK This example will show you how you can add OPC-UA Client connectivity to RoboDK. The vehicle frame has a force beam that prevents easy access from the front to the rear, you need to create two approach targets that allow passing inside the frame. This example also shows how you can use the Fusion 360 plugin to generate toolpaths in RoboDK. Video: The following video shows the result of running the simulation: This section shows some examples that involve robot machining. rdk files store information about the robot, target pose, and environment. Nov 5, 2024 · RoboDK . Drag and drop your robot into RoboDK or select file and then open (it may take a few seconds to load). rdk (located by default in C:/RoboDK/Library/). e. It’s necessary to set the corresponding model files using the Segment and Carriage buttons. You can select Update to see if RoboDK can find a feasible path using the default settings. Net, C++ and Matlab. Get full access to the RoboDK API, the most advanced API for programming industrial robots. It is possible to manually add, modify or delete the files in the Posts folder of RoboDK. This engaging and refreshingly different guide breaks down the skills into clear step-by-step chunks and explains the the-ory using brief easy-to-understand language. La estación RoboDK se almacena en un archivo (extensión RDK). Este ejemplo está disponible en la biblioteca de RoboDK como Tutorial-UR-Painting. En las subsecciones siguientes muestran cómo crear un programa sencillo para la simulación, programación fuera de línea y programación en línea, respectivamente. This example shows how to create a new station using a UR robot and simulate a hexagonal movement with the robot. RoboDKの良いところとは? RoboDKの使いやすいインターフェースでプログラミングの知識は必要ありません クリック数回で、どのロボットでもオフラインで簡単にプログラムできます RoboDKは、500を超える幅広いロボットアームを揃えたライブラリがあります RoboDK supports the Brooks PreciseFlex robots using GPL (Guidance Programming Language). Items are represented by the object Item. Werkzeugleiste Die Werkzeugleiste oder auch Symbolleiste enthält grafische Symbole, die einen schnellen Zugriff auf häufig verwendete Aktionen im Menü ermöglichen. 30. In this example, if we are using a KUKA KRC robot controller we’ll obtain SRC program files. Right click on Python 3. Net or Matlab). Select Load Project… and select Default Setup to load a sample RoboDK station (same sample project shown in the previous section). Learn more about example projects in the examples section. The RoboDK API allows simulating and programming any industrial robot (offline and online) - RoboDK/RoboDK-API Load the machining job file in RoboDK and RoboDK should automatically create one robot machining project for each machining operation. Jun 26, 2024 · # cd path-to-python/Scripts pip install robodk[cv,apps,lint] The Python interpreter and editor used by RoboDK can be set in: RoboDK - Tools - Options - Python. 10. You can check if any parts collide by selecting Tools Check Collisions. This example will help you create a simple 3 axis machining project in RoboDK using the Mastercam plugin. ; Basic-Guide - Guide (English) Basic-Guide - Install (English) Basic-Guide - Start (English) The sample comes with a . Create the new Curve Follow Project (Utilities->Curve Follow Project). Can thiss "setPose" command do that? The following steps allow creating or modifying robot tools (TCP, also known as tooldata in ABB robot programming):. Introduction - RoboDK Documentation This section shows how to customize the robot setup and the machining toolpath to successfully accomplish robot machining. Let's assume that you need to spot-weld the front and rear part of the car frame. In this example a Motoman robot is simulated and programmed for a laser cutting application using Fusion 360 and RoboDK. The RoboDK API provides an alternative Propeller Example. In this example a Kawasaki RS007N robot is simulated and programmed for a robot liquid dispensing application using SolidWorks and RoboDK. py) in the Scripts folder can be run as a script within RoboDK. For example: robot machining, This section shows a sample program of a Beckhoff TwinCAT PLC that communicates with RoboDK OPC UA server. Además, la biblioteca de RoboDK viene con macros muestra de Python en la carpeta C:/RoboDK/Library/Macros/. Export Simulation will export a specific program or simulation as a shareable RoboDK for Web link, a 3D PDF, 3D HTML file. We’ll browse some settings by using UaExpert software and Beckhoff TwinCAT3 TF6100. 또한 시뮬레이터와 상호 작용하여 프로그래밍 방식으로 객체 또는 로봇을 생성, 수정 또는 편집 할 수 있습니다. Select the Python tab. Right click your program (Main Program in this example)2. Hold the Alt key and move the reference with its arrows using the cursor to reposition the part in front of the robot. The following sections demonstrate typical operations using an ABB robot teach pendant, for example, to prepare a new robot program in RoboDK and transfer it to the robot. exe, as shown in the next image. Each pose will need to be created or modified to fit your scene using the RoboDK GUI. However, you can load any generic 5-axis toolpath in RoboDK such as APT, NC or G-code files. 2. The RoboDK API allows you to program any insdustrial robot from your preferred programming language. Paste the path in the Python interpreter box adding /python. It is possible to specify speed and accelerations in the joint space and in the cartesian space. 3. Users can generate advanced laboratory automation programs using a selection of their robot arm, grippers, and linear rails. 7 and select Open file location. RoboDK Documentation: Example Welding Setup (in English). Follow these steps in RoboDK to open the robot model window: 3. The robot cutting toolpath is defined using the RoboDK Add-In for Autodesk Fusion. Im Abschnitt Erste Schritte wird gezeigt, wie Sie ein einfaches Projekt offline für eine Roboteranwendung (Lackieren) in RoboDK mit einem UR10-Roboter erstellen. The RoboDK API allows you to customize the simulation as much as desired. Any Python file (. py from C:/RoboDK/Library/Macros/ This section shows some examples in Python that use the RoboDK API. Moving the robot and replacing the objects is accomplished through Python. 8. Load your robot 3D files onto RoboDK by doing the following: 5. Select your post processor. Select Copy on the path in the path title bar. rdk verfügbar (zu finden in C: / RoboDK / Library /). Library of sample projects built with RoboDK that show how you can automate your process using robots. Additional RoboDK API examples are included in the following folders: The RoboDK API allows you to program any insdustrial robot from your preferred programming language. With the RoboDK API you can simulate and program any industrial robot using your preferred programming language and development environment. Select Run on robot This example will show you how to use RoboDK for tank welding simulation. RoboDK est un logiciel de Simulation et de Programmation hors Ligne (PHL) dans le domaine de la robotique. RoboDK provides Post Processors for most robot brands. To start the project, you will first have to select RoboDK’s polishing example in the default library. Select Tools-Options. For example while running the python script a message box will ask you how many targets you want to have and where are it should go next? So you will insert the the next target (X,Y,Z Values). Das Beispiel bietet einen allgemeinen Überblick über einige der wichtigsten Funktionen von RoboDK für Simulation und Offline-Programmierung, einschließlich: The RoboDK Library is library that offers a collection of robots, examples, tools, external axes, add-ins and post processors. In other words, it is possible to programmatically generate the vendor-specific program instead of simulating it if the Python program is being executed outside of RoboDK’s GUI. The RoboDK's Python API allows programming any robot through Python. The RoboDK API allows creating simulations for industrial robots, specific mechanisms and generating vendor-specific programs for robots. Additional RoboDK API examples are included in the following folders: Pick and place with Python. Select Program Add/Edit Post Processor. You can tip in the name of the subprogram you want to use, or you can press the “ + ” button to select it from a list. Follow these steps in RhinoCAM to export the machining program to RoboDK: 1. Select the location you would like to save each file; the . Edit Menu. ItemList() if itemlist: # Get all Station Parameters Trajectory planning. Follow the next steps to load your sketch into RoboDK: 1. Alternatively, drag & drop a file to the RoboDK main screen to load it. Select File Open to load one of the RoboDK station examples provided by default (RDK files). Trajectory planning. ). rdk. These operations are also available from the RoboDK API and it allows integrating robot programming with other applications. programming. robot) One target pose (in the example demonstrated in this tutorial it’s named “touch_test_pose”) Virtual model of robot’s environment (optional) After models and welding paths are imported, the next step will be to create the corresponding Curve Follow Projects. The components in the . Select Run on robot This section shows basic examples to generate robot simulations and programs directly from Autodesk Inventor using the RoboDK Add-In. The RoboDK API allows you to program any insdustrial robot from your preferred programming language. 本部分为 RoboDK 教程的基础部分。本教程基于在 Windows 下运行的 RoboDK ，我们也提供针对 Mac ， Linux 及安卓系统的 RoboDK 软件版本。 通过我们的 网站 下载并安装 RoboDK ，双击桌面上的快捷图标 来启动 RoboDK 。 RoboDK 界面内包括主菜单，工具栏，状态栏以及主要工作 RoboDK Documentation: search (in English). Select OK This section shows how you can calculate and display the cycle time estimate of the spot welding simulation. For more information vi Index for RoboDK documentation: link to the RoboDK documentation. json file can be saved into a USB disk to be imported to the controller as a program. In this example we assume we are using a KUKA KRC2 or KRC4 controller: 1. 고급 픽 앤 플레이스 시뮬레이션 the RoboDK API 시작하기 You can generate RoboDK for Web public links, 3D HTML and 3D PDF documents following these steps: 1. Transfer a robot program Todos los robots, objetos y herramientas utilizadas en un proyecto RoboDK se guardan como una estación RoboDK (archivo RDK). Redo the same for the other side of the oil pan. The station files for each of these examples can be accessed through File->Open, then, select the appropriate example in the default library folder. py from C:/RoboDK/Library/Macros/ The RoboDK API allows you to customize the simulation as much as desired. Make sure that your sketch is visible as shown in the image below to be able to select it with RoboDK’s plugin. This section shows how you can animate the movement of the spot welding gun and create the tool center point (TCP). RoboDK will automatically optimize the robot path, avoiding singularities, axis limits and collisions. HTML or 3D PDF. The Python tab allows you to setup the path of the Python interpreter and the Python editor used by RoboDK. For example, for KUKA KRC4 select KUKA_KRC4. You can optionally provide the object name as a component input (O). You can operate the RobotiQ gripper directly from RoboDK using the driver (Run on robot option). This example includes a tank sample model and a robotic cell with an ABB welding robot paired with a single-axis positioner. ; Basic-Guide - Guide (English) Basic-Guide - Install (English) Basic-Guide - Start (English) You should first import the part and the welding paths from SolidWorks. Load the 3 bladed Propellers example in SolidWorks. Additionally, you can interact with the simulator to create, modify or edit any objects or robots programmatically. この例は、デフォルトで Tutorial-Fanuc-Painting. RoboDK will prompt you to save two files, one is a line-by-line script of the commands that will be sent to the controller and the other a . If you are running the application for the first time or your robot control system has never used RoboDK CNC, automatic configuration is required before starting. Some of these examples include using a plug-in to show how to generate the CAM toolpath. C:\RoboDK\Posts Grasshopper Example. Follow these steps to run a Python program on the robot: 1. Set Defaults – Set the default settings for the component. The robolink module is the link between RoboDK and Python. One post processor is a PY file (each post processor is defined by a Python script). Choose a suitable postprocessor and check the generated program with welding commands: Export Simulation will export a specific program or simulation as a shareable RoboDK for Web link, a 3D PDF, 3D HTML file. py script from the C:\RoboDK\Library\Scripts folder. rdk file needed to perform the Touch Test are: Robot model file (. json file to be uploaded to the controller. With the RoboDK API it is possible to simulate and program any industrial robot using your preferred programming language. One Post Processor in RoboDK is simply a Python file that defines how the code should be generated. tool file. This section shows some examples in Python that use the RoboDK API. Select Default Setup. Post Processors can be easily created or modified. The RoboDK API allows simulating and programming any industrial robot (offline and online) - RoboDK/RoboDK-API Feb 14, 2023 · This example script shows how to get the station parameters via the Python API of RoboDK. Select ABB Program data tooldata (double click). It is possible to create or modify existing tool variables This example will help you understand the basics of robot machining in RoboDK and how to convert a 3-axis robot machining job to a robot machining simulation and robot program. This example is available in the RoboDK library by default as Tutorial-UR-Painting. 自動描画は、RoboDK APIを使用して実現できます。 RoboDK APIを使用すると、サードパーティのPythonライブラリを使用して、SVG画像をロボットパスに変換できます。 実際のプロジェクトについて詳しく知る RoboDK APIを使い始める La section Premiers pas avec RoboDK montre comment réaliser un projet simple en mode hors ligne, pour une application de peinture robotisée en utilisant un bras robot UR10. This example shows how you can simulate and program a robot arm for a robot painting application. Right click a Python program. Load Project … – Load the RoboDK project (RDK file) that you want to use for your current project. This example will show you how you can impose a speed limit of 500 mm/s and avoid using higher speeds when generating a program with RoboDK. Deliver solutions for automated manufacturing, from robot machining applications to pick and place. The RoboDK API allows simulating and programming any industrial robot (offline and online) - RoboDK/RoboDK-API Examples. L’API Robodk (Application Program Interface) représente un ensemble de routines et de commandes que RoboDK propose à travers un langage de programmation. For this example, activate “Program Start”, “Box Grab”, and “Box Release”. Load the Grasshopper example provided with the RoboDK plug-in (3dm file and gh file). The example includes a KUKA robot, a rotative polishing tool, the part (canoe) and a metallic stand on which the canoe rest. Under Robot Type, select 6 axis industrial robot. The following image shows an example saying Joint 5 is too close to a singularity (0 degrees). The API is available in Python and C# and other programming languages. rdk (ubicado por defecto en C:/RoboDK/Library/). How to Export a simulation to share them as HTML shareable links using RoboDK for Web, 3D. The RoboDK API is a set of routines and commands that RoboDK exposes to automate certain tasks within RoboDK Software. Most post processors require Python to allow you to generate brand-specific robot programs. The guide explains how to load robots and files, add reference frames and programs, simulate programs, and generate code for the robot controller. if you want to start the rotation of your polishing tool either during the path approach or at path start. In RoboDK, select Update and Simulate in the Robot Machining Project The following example shows how you can program a robot for a deburring application. Note that the reference frame called “Part” in the middle of the table is where the part will be imported. Enter the Object Name you want in RoboDK. These examples were tested using Python 3 and might require some adjustments to work on Python 2. Feb 14, 2023 · This example script shows how to get the station parameters via the Python API of RoboDK. By default, RoboDK installs Python and a set of sample scripts that allow you to improve simulations. Index for RoboDK documentation: link to the RoboDK documentation. Getting started with Robot machining - RoboDK Documentation Implementation of the RoboDK API in different programming languages. Robolink() from robodk import * # RoboDK API. It is possible to control the movement of a robot from the RoboDK API, for example, to program a robot from a Python program or a C# application. Tip: You can create segmented rail using models of the base segments and carriage. Select Export Simulation… This example shows how to use a Yaskawa/Motoman robot for a laser cutting application. The following code is an example Python script that uses the RoboDK API to filter a target (pose target or joint target), using the FilterTarget command: pose_filt, joints = robot. Python by Example Learning to Program in 150 Challenges Python is today’s fastest growing programming language. Apr 2, 2024 · I want the User to control the robot without using the set target method that we normally use to set targets. Open Library – Open RoboDK's online library. In this example it is Oil Pan. L’API RoboDK vous permet de programmer n’importe quel robot en utilisant l’un des langages de programmation pris en charge, tels que C#, Python ou C++. The examples section provides more examples for many different applications. RoboDK supports all Fanuc robot controllers since RJ2, including RJ3, R-30iA and R-30iB. Locate the Laser-Cutting example from RoboDK’s examples section: C:/RoboDK/Examples/ Plugin-Fusion-360-Laser-Cutting. This example shows how to load a sample RoboDK station (default setup) and follow a set of curves defined in SolidWorks with the robot. Provide the Python path in RoboDK settings: 5. Implementation of the RoboDK API in different programming languages. The examples explained in this section are available with the default RoboDK download. Filter samples by application, by features, robot brand and more. Tip: Follow this guide to learn how to create a robot station step by step in RoboDK . This video shows how to create and simulate a robot program using Python. Laser cutting - RoboDK Documentation This section shows how to create the spot welding points on the car frame to move the spot welding gun to. In this section you will learn how to apply Welding Add-in and customize each welding operation. An APT file is used to load the toolpath in RoboDK and automatically sent using a custom BAT file. How to Generate a program for the robot controller and select a post processor. rdk sample environment file using a Universal Robots UR5e robot. Open RoboDK. Each robot brand uses a default post processor that can be modified to customize program generation and better adjust to specific applications. The following sections show how to create a simple program for simulation, offline programming and online programming respectively. This example includes a table and 2 angle irons to show you how you can use RoboDK’s feature to improve your welding paths.