Setting axis preferences

[OXIDO]

Hello,
We are working on an additive manufacturing process and have an infinite A6. In this configuration, I want to avoid the massive rotation of A4 and prioritise A6. Is that possible?
Also, in the Quantec-2 KR210 R3100 Robot, there is an interface bug which does not show whether the INFINITE AXIS is activated or not.

[Johannes @ Robots in Architecture]

Not directly, however with many robots you can also have A4 rotate infinitely, so you could look into that (at your own risk, ask KUKA first for your robot type). On the KUKA|prc side you can create custom axis limits for A4, there is no button for it.

The problem with priorization is that with a given posture and TCP location there really only is (more or less, excluding axis with >360 degrees range) one solution with a six axis robot. Technically with 3D printing you might gain the rotation around the nozzle as a degree of freedom that you can use to optimize certain parameters - but again there is no easy way to tell the robot to reduce A4 movement.

Best,
Johannes