[Albert]

Do you have a list of joint values or Cartesian points? This example shows 5 different ways you can convert a list of points or joint values to a robot program using the RoboDK API:
//m.sinclairbody.com/doc/en/PythonAPI/exam...to-program

setRounding with a rounding value greater than 0 is the right instruction to use at the top of your program if you want to have a smooth movement. For example:

Code:

prog = RDK.AddProgram('MyProgramAPI')
prog.setRounding(10)

# Iterate through your list of joints
for i in range(len(joints)):
ti = RDK.AddTarget('Auto Target %i' % (i + 1))
ti.setJoints(joints[i])
ti.setAsJointTarget()
prog.MoveL (ti)

For a KUKA robot, this will output the correct C_DIS and C_PTP flags in the linear and joint movements. This will also set the ADVANCE variable to 5 (maximum allowed).