KR6-10 R 900 - Axes 4 Error

[xsfxcx]

In the previous edition of KUKA PRC, the axis 4 is always flipped 180 degrees, but in the new edition it becomes a problem that it rotates 90 degrees, while I cannot predict how the axis 5 and 6 will go in KUKA prc.

Would there be any solution to this ?

In the attachment photo it shows how it is at the same position of the script , but the axis is rotated .

[Johannes @ Robots in Architecture]

Hello,

Are you 100% sure that you are using the same XYZABC tool and base values for physical robot and the simulation? That would be the easiest solution why your tool is oriented differently. Instead of the standard Kress-spindle, use a Custom Tool, enter the XYZABC values that you measured at the robot, and see if the simulation changes. You do not have to provide a mesh for the Custom Tool, it is only used for visualization and collision checking.

If that is the case, please let me know which version of KUKA|prc you are using (it tells you so in the first screen of the settings) and send the Grasshopper/Rhino file, as well as the generated SRC file to johannes@robotsinarchitecture.org

Best,
Johannes