Custom Tool Axis Issue

[tjroy]

I'm new to Kuka|prc and grasshopper, and trying to set up a simulation for a tool which basically touches off on points of a sample. It will be moving linearly in the Z toolhead axis, rather than the assumed X axis of other spindles, and when I ran the program on our robot it did not move similarly to the simulation.

In simulation, it correctly "poked" the sample in Z, but in reality it poked in X. When I try to change that via XYZABC tool parameters in the Custom Tool block, it says I will be colliding with things pretty aggressively.

Is there a parameter I'm missing to change that default X-axis for the tool? I've attached pictures of the orientations, right and wrong, and the XYZABC settings of the custom tools. The geometry for the tool was imported with +Z up, situated at [0,0,0].

[Johannes @ Robots in Architecture]

Hello,
Generally if the tool/base values fit, then the simulation and reality should always match closely. You should not use different values, the you get differences.
KUKA|prc uses X as the tool axis, that is convenient when e.g. working with the XY plane component.
If you would prefer the standard-KUKA behavior, simply enable using Z as the tool axis in the settings.
Best,
Johannes

[tjroy]

Thanks very much! That mostly fixed my issues, and I'm gonna try my hand at the rest of them myself before asking any other questions.

[Johannes @ Robots in Architecture]

Feel free to ask if you run into any problems, my replies might just be a bit delayed over the holidays!
Best,
Johannes