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http://youtu.be/XQnhsgCrJmk

After sending you an email I got it working  :)

will upload the video soon.

I think I'm used to Mastercam Tool and base setups which is quite easy to do, no need for physical calibration.
Ok, so I have just created a base 2 in KRC1, using tool 2 (gripper).


Here is the problem when I enter those numbers of Base 2, X=1298.01, Y=2.73, Z=593.19, I get this:



A little note on how the Tool 2 was done:




Tool 2 was created  as shown above, my question is does the reference point has to be somewhere near the brick or near where the Base was created when creating tool 2??

1st: I move the robot 50mm above the brick then check the XYZ in KCP:

X=1557.73
Y=-451.537
Z=600.46

then enter those number in to PRC's setting in BASE.
Generate SRC, then load it to KRC1.



The result was "software limit A5 out of range"

For the "pickandplace" I'm using KRC1 for this test, do I need a post for KRC1?

[do you use the same tool/base number and XYZABC values on the robot and simulation?]

mm...work envelop exceeded.
here is my current tool/base:


do you use the same tool/base number and XYZABC values on the robot and simulation?
Tool nr.=2 base =17.
About XYZABC do you refer to this:

how do I check the value of XYZABC in KRC2?



through your editing you have set the linear axis E1 to 0.0, can the robot reach the rotary axis from there?
It always has been E1=0, and the robot can reach the table without problem.

Ah..I realised I entered the wrong root point...it is now corrected.
this look more like it:


before the turn table was on the left side of the robot:


test run...

In Kuka PRC settings--->Base settings---> Base Nr. 17, for base X, Y, Z, A,B,C = 0 is this correct?

One more thing, my KRC2 Robot is a KR210L150-2, the closest in PRC is the KR150-2 without extension.

Results: Work envelope exceeded

Ok, I replace E1 to E2 and vice c=versa. will run it now see if it works,....

I have generated a src code from PRC for 6 axis + external rotary axis synchronous, open attachment for SRC.
I run kevintest.src in KRC2, it stopped at line 5 in KCP (line 6 in orange edit):
PTP {E6POS: X -5.123, Y -115.230, Z 0.000, A 0.000, B 90.000, C -87.455, E1 -71.145, E2 0.0, E3 0.0, E4 0.0, E5 0.0, E6 0.0}

I think it stopped because E1 in my setup is Linear axis not rotary axis, my rotary is set at E2.

Ah ok, global origin got it. I move the gripper's flat end towards the WCS manually, is there a more accurate way of doing this?
http://youtu.be/XIo0dtAxDNc
Also, how do I temporary hide the grey robot?

what do you call the gripper in this picture:

Actually I meant, how did you map the cplane to the gripper's flat end?
Set cplane--->3points---> from here how do you set the 3 point for the gripper since the gripper is greyed out?


About the TCP, would have to add a new tool:

Thanks.
How do you set the TCP for the tool?

Hi,
    I would like to import the Gh components in this picture:


to this gh file:


I tried to align the gripper in picture 2, but the robot is in an awkward position so to straighten up the robot by using the slider for each axis in file 02_PRCIntro_AxisMovement - KR200-2-test.gh, open attachment.