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+--- Thread: Synchronising equipment with Robot simulation (/Thread-Synchronising-equipment-with-Robot-simulation)
Synchronising equipment with Robot simulation-sancelot-12-18-2019
Hi,
I need to synchronise an equipment (eg a multi axis machine) imported in RoboDK with the robot.
I have a file describing machine axis positions= f(t).
I need to know the Robot Simulation time step in order to set the machine in the right position .
How can I retrieve the robot simulation time step ?
Can I use the plugin Render event in order to update the machine positions ?
Regards,
Stéph
RE: Synchronising equipment with Robot simulation-Albert-12-18-2019
Hi Stéph,
You can retrieve the simulation speed and time using the SimulationSpeed and SimulationTime call:
Code:
RDK = Robolink()
simtime_speed = RDK.SimulationSpeed()
simtime = RDK.SimulationTime()
The simulation speed is a ratio that represents how much faster the simulation is compared to the real time. More information here:
//m.sinclairbody.com/doc/en/PythonAPI/robolink.html#robolink.Robolink.SimulationSpeed
It is also possible to retrieve the simulation time using SimulationTime:
//m.sinclairbody.com/doc/en/PythonAPI/robolink.html#robolink.Robolink.SimulationTime
(这个函数添加了今天Python, available on GitHub)
Albert