[BernardoFreire]

Hello all,

I am using the C# API to import a great of points for RoboDK.
In my robotic cell, I have a 6-Axis ABB robot and a Turntable ABB Robot, both linked using the synchronized axis option.
For this specific case, I want to reach the targets using the turntable robot and not the 6-Axis robot, but in the configurations to reach each target doesn't appear a coaxial tool option (the last two joints are fixed).
How can I solve this issue?
Thank you in advance.

[Albert]

Hi Bernardo,

You should specify the position of your external axes since you are importing targets as poses. You can do so with the setJoints command. You can just impose index 7 and 8 of the joint values. Example:

Code:

joints = [0,0,0,0,0,0,e1,e2]
target.setJoints(joints)

You'll find an example here:
//www.sinclairbody.com/forum/Thread-Python-A...71#pid3371

Albert