IIWA + External Axis

[sena]

Hi!

I'm trying to model a Kuka IIWA 14 with an external positioner axis, but getting an index error when setting it up. This error shows when attaching any of the external axis options in PRC, but does not show when attaching a dummy axis.

Maybe a bug relating to the IIWA's 7-th axis? Are there any workarounds possible for this error?

Best
Aran

[Johannes @ Robots in Architecture]

Hello Aran,

KUKA does not support external axes on Sunrise, so we never implemented support for it either.
If you just want to experiment with it for visualization, I would suggest creating a 6-axis iiwa through the Custom Robot component and simulating it like a KSS robot. If you go that route, I can provide you with the geometry (or you just bake it from KUKA|prc).

Best,
Johannes