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Hey Johannes,

So I think I have it set up to make the robot "weld" but I have run into another issue. The robot has no problem when it is working with a line that is parallel or perpendicular to the xy plane, but as soon as I add a curve to the line or it is no longer perpendicular, the robot turns red and can no longer follow the curve. I have the planes so they are oriented to follow the curve, but as soon as they try to "weld" on a point where it is not perpendicular it has an issue. Sorry if I sound confusing, I have an image to accompany this. Any suggestions on what I can do to fix this?

Yeah, locking that axis seemed sorta odd to me. That tutorial works! Thank you.

I will try the wait component and see what I can do with it.

Thanks again for all the info and help Johannes! I'm sure I will be bugging you again soon!

-When I open the zip file for the extrusion example it says that it is for an older version. I only saw one zip file on the tutorial page. I wasn't sure if it would be helpful,just wanted to see more or less the set up of  components used for it.

-Do you have a suggestion for how to set up the timing? Starting to get an understanding of all the PRC components but still could use some direction.

-Someone that we told our initial idea of wanting to extrude with the welder told us that we would want to lock the 5th axis and it would help with what we were trying to do. He works with I believe powermill.... Not sure if that changes anything....

Hey Johannes,

No worries, thanks for getting back to me. I think you're right, I need to use the Custom KRL component to achieve what I am wanting to do. Three things:

1. Basically what I am wanting to do it extrude using a welder. So I am trying to figure out how to account for the robot "pulling the trigger" on the welder to create a bead of weld and repeating that process. That's what I am referring to pulsing as. I am wanting to do something similar this: https://hackadaycom.files.wordpress.com/2014/02/robot-printer.jpg?w=800&h=389

2. I think it is similar to Tutorial you posted "Example: Extrusion Process" except I can't load the full script because I have a newer version of PRC. The version I have is 2016-02-21.

3. One last thing. Do you know how I can lock an axis on the robot? I am wanting to lock the 5th axis.

Thanks for the response and your help!

I am recently new to working with Kuka PRC. I am wanting to weld with the robot and was wondering how I could pulse with the robot. I am hoping to extrude the weld and create an object, so I am assuming I need to figure out how to make the robot pulse. Any ideas would be helpful. Thanks!