Turntable Rotation Function in GH

[STurner]

Hello Everyone,

I want to mill large geometry using a turntable and am having trouble rotating the turntable without also rotating the robot. I'm using KUKA|prc and a KR C2 controller and am setting up my GH to make a cut, rotate the turntable, then make another cut. I'm trying to set it so I can define the amount of degrees I want the turntable to rotate in between each PTP movement. Is there a component in KUKA|prc I can use, I am not able to find anything similar to this in the forum or online? Thank You!

[Johannes @ Robots in Architecture]

Hello,

You can set the external axis values by right-clicking a movement component and selecting "Toggle External Axis Inputs". Then extra inputs for E1-E4 will show up!

Best,
Johannes

[STurner]

Hi Johannes!

Sorry for a late response, I am just now returning to this project.

I am able to find the External Axis Inputs on the PTP and LIN components I am using but what I am trying to do is have the turntable be its own command and rotate in between movements (Plane 1 > Rotate Turntable by given amount > Plane 2). I'm not sure if by toggling the external axis its already supposed to do that or if I should toggle something else in the Core.

Best,
Shenaia

[Johannes @ Robots in Architecture]

Sorry, I must have missed that message.
For that I would just define a safe axis position somewhere and do the rotation there.
If you really need to rotate it by itself, you could use a Custom KRL component. However that movement won't be simulated in that case.

Best,
Johannes