Export Robot Motion Programs From FreeCAD

Exporting robot motion programs from FreeCAD allows you to translate CAD-designed toolpaths and waypoints into machine-readable code for industrial robotic arms. By utilizing FreeCAD's built-in Robot Workbench alongside custom Python post-processors, you can generate kinematic trajectories and export them into native controller languages such as KUKA KRL, or extract coordinate data for brands like ABB, Fanuc, and Yaskawa. This guide explains how to prepare your trajectory, export standard motion files, and adapt code for your specific robot controller.

1. Set Up the Robot Workbench

  1. Open FreeCAD and switch to the Robot Workbench using the workbench dropdown menu.
  2. Insert your robot model into the project by selecting Robot > Insert Robot and choosing a supported kinematic definition (such as a standard six-axis KUKA model).
  3. Position your CAD workpiece relative to the robot base within the 3D space to ensure all target points fall within the robot's reachable work envelope.

2. Create the Motion Trajectory

Before exporting, you must define the sequence of waypoints the robot will execute:

  • Manual Waypoints: Move the robot to desired positions using the kinematic control panel, then click Robot > Insert waypoint preselected to store target coordinates.
  • Edge-to-Trajectory: To follow geometry directly from a part, select the desired edges on your 3D model and use the Edge2Trac tool. This automatically generates a continuous path of waypoints oriented along the contour.
  • Group your waypoints into a single Trajectory object within the tree view.

3. Export to KUKA Robot Language (KRL)

FreeCAD includes native post-processing support for KUKA controllers out of the box:

  1. In the tree view, select the Trajectory object you want to export.
  2. Navigate to the top menu and select Robot > Export trajectory.
  3. Choose the export format as a KRL program file (.src).
  4. Select a destination folder and click Save.

The generated .src file contains the motion commands (such as PTP and LIN movements) along with axis orientations and Cartesian positions readable by KUKA KRC controllers.

4. Exporting for Other Robot Brands via Python

If you use a controller other than KUKA (such as ABB RAPID, Fanuc Karel, or universal G-code), use FreeCAD’s internal Python API to extract the trajectory coordinates and write them to your required syntax:

  1. Open the Python console in FreeCAD (View > Panels > Python console).

  2. Access the trajectory waypoints programmatically:

    import FreeCAD

trajectory = FreeCAD.ActiveDocument.Trajectory.Trajectory
for waypoint in trajectory.Waypoints:
    pos = waypoint.Pos
    rot = waypoint.Rot
    print(
        f"X: {pos.x}, Y: {pos.y}, Z: {pos.z} | Q: {rot.Q[0]},{rot.Q[1]},{rot.Q[2]},{rot.Q[3]}"
    )

  3. Loop through the extracted coordinates within a Python script to write standard text files formatted for your controller's syntax (e.g., MoveL commands for ABB or J P[] instructions for Fanuc).