Programing for multible tables

[OXIDO]

We have a setup like this. In reality, the KUKA is at 0, 0, 0, and we have four tables around it.

Now I use a base which is at 0,0,0 and reorient my toolpath to the table frame using the transform command. The problem is that when I export the program, the Z-axis is not 0. I want to program the process so that I can put any table during production which is available. For now, I can only use the table I programmed, something like this.


I want the code at 0,0,0 and decide later which table I want the progrm to work on.

[Johannes @ Robots in Architecture]

Hi,

You have to use a base coordinate system - i.e. draw your geometry around the Rhino-origin and then enter the XYZABC base coordinates - either an approximation or in your case ideally already measured with the KUKA's 3-point method - to position the path in space. You can use the Robot Cell component to create geometry like your holders that move with the robot.

You could add some logic that takes the base number from a variable and then also adjusts the starting position. Or just test to make sure that the movements would work on any base.

Best,
Johannes