Generate E5 and E6 External Axes Values

[MkMrA2]

Hi,

Our robot setup necessitates specifying all the external axis (E1 through E6). Right now PRC generate E1 through E4 in the code (all 0). But when I run a program it says "Impermissible start motion". The error occurs on this line:

STARTPOSITION - BASE IS 0, TOOL IS 4, SPEED IS 10%, POSITION IS A1 0,A2 -65,A3 78,A4 0,A5 -102,A6 0,E1 0,E2 0,E3 0,E4 0

If I add E5 0, E6 0 at the end it works.

Is there a way for me to generate those extra axes in the code that PRC outputs?

Thanks!
Mark

[Johannes @ Robots in Architecture]

Hello Mark,

Do you need to set all of your 6 external axes, or is it enough to set 4 external axes from the Grasshopper code?
If it's just about getting the code to run, you could go into the KUKA|prc settings, Advanced, Code and tick the box to use a custom code pattern.
Above [STARTAXPOS] add the following line:

Code Select Expand

PTP  {E1 0,E2 0,E3 0,E4 0,E5 0,E6 0}
If that does not help, also add the A1-A6 values for the start position - just note that it's then hardcoded and no longer uses the values from the UI - these values are used within [STARTAXPOS]

Best,
Johannes

[MkMrA2]

Hi Johannes,

Thanks for the quick response! It does seem to need those E5 and E6. And I did have to add the A1-A6 as hardcoded values. But it works so this is acceptable for now.

Thank you! 
Mark

[Johannes @ Robots in Architecture]

Thank you for the update, to be honest I did not know that setting all external axes was required, so that's valuable information!
What are six axes driving, unless that is confidential?

Best,
Johannes