使用

在给机器人和机器人程序校准过的情况下，使用RoboDK可以通过调用FilterProgram过滤整个程序：

robot.FilterProgram(file_program)

在资源库的"宏"部分，有一个名为"过滤程序"（FilterProgram）的宏示例。以下代码是使用RoboDKAPI过滤程序的Python脚本示例。

from robolink import *    # API to communicate with RoboDK

from robodk import *      # basic matrix operations

import os                 # Path operations

# Get the current working directory

CWD = os.path.dirname(os.path.realpath(__file__))

# Start RoboDK if it is not running and link to the API

RDK = Robolink()

# optional: provide the following arguments to run behind the scenes

#RDK = Robolink(args='/NOSPLASH /NOSHOW /HIDDEN')

# Get the calibrated station (.rdk file) or robot file (.robot):

# Tip: after calibration, right click a robot and select "Save as .robot"

calibration_file = CWD + '/KUKA-KR6.rdk'

# Get the program file:

file_program = CWD + '/Prog1.src'

# Load the RDK file or the robot file:

calib_item = RDK.AddFile(calibration_file)

if not calib_item.Valid():

    raise Exception("Something went wrong loading " + calibration_file)

# Retrieve the robot (no popup if there is only one robot):

robot = RDK.ItemUserPick('Select a robot to filter', ITEM_TYPE_ROBOT)

if not robot.Valid():

    raise Exception("Robot not selected or not available")

# Activate accuracy

robot.setAccuracyActive(1)

# Filter program: this will automatically save a program copy

# with a renamed file depending on the robot brand

status, summary = robot.FilterProgram(file_program)

if status == 0:

    print("Program filtering succeeded")

    print(summary)

    calib_item.Delete()

    RDK.CloseRoboDK()

else:

    print("Program filtering failed! Error code: %i" % status)

    print(summary)   

    RDK.ShowRoboDK()