[Sam]

You are absolutely right!

For the target reach error, I think the robot was synchronized but not moved yet, as the joint value for the linear axis is at 0 mm while the lower range limit is 5 mm (even if 5 is displayed in the menu).
Moving the linear axis to 10 then back to 5, then running the script, removed the exception.

However, it is true that PoseWrt with synchronized axis is not working properly. In fact, it should throw an input error.
PoseWrt adds the ability to get the tool pose wrt to another item anywhere in the tree, which your code will not allow.
Try pose_wrt(robot, frame2) or pose_wrt(tool, frame2) while the active frame is Frame 1.
This is because robot.Pose() returns the pose (including the tool) wrt to the ACTIVE reference frame, not the robot base!

As only robots and tools have an odd behaviour with .Pose() and .PoseAbs(), I have changed the code so that two frames skips this whole process and returns the pose without a problem when using two frames (like your code).

As for PoseWrt with synchronized axis, the behaviour is changing a bit when you have a turn table and a linear rail synchronized, and the generic solution no longer applies. For now, it will still throw if you use the robot or tool Items.

Here's the test code:

Code:

from robodk import *
from robodk.robolink import *

RDK = robolink.Robolink()
frame1 = RDK.Item('Frame 1', ITEM_TYPE_FRAME)
frame2 = RDK.Item('Frame 2', ITEM_TYPE_FRAME)
robot = RDK.Item('robot', ITEM_TYPE_ROBOT)

pose = robot.Pose()
pose_abs = robot.PoseAbs()
while True:
print(str(Pose_2_KUKA(frame2.PoseWrt(frame1))))
print(str(Pose_2_KUKA(frame1.PoseWrt(frame2))))

# below will throw unless you unsync the ext. axis
# it will also throw as the current axis value of the linear rail is lower than the lower limit (0 vs 5). Move it back to 5, it will work.
print(str(Pose_2_KUKA(robot.PoseWrt(RDK.ActiveStation()))))
print(str(Pose_2_KUKA(robot.PoseWrt(frame1))))
print(str(Pose_2_KUKA(robot.PoseWrt(frame2))))

You can retrieve the latest version of robolinkutils with the link below, or wait for the next update.
https://github.com/RoboDK/RoboDK-API/blo...ls.py#L161