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Robots in Architecture Forum

KUKA|prc - parametric robot control for Grasshopper => Support => Topic started by: lim_zhang on June 24, 2018, 05:09:38 PM

Title: why the B is always 90?
Post by: lim_zhang on June 24, 2018, 05:09:38 PM
In the src prduced by prc,the code:
LIN {E6POS: X 896.868, Y -1602.637, Z -4450.228, A 0, B 90, C 0, E1 1400, E2 -2350.228, E3 2200, E4 0} C_DIS

the B is always 90 degree,so i donnot know why it is not 0,because my frame is xy plane,doesnot have any rotation.
so have somepeople explain it?
Thank you!
Title: Re: why the B is always 90?
Post by: Johannes @ Robots in Architecture on June 25, 2018, 07:49:12 AM
Hello,

We use X as the tool axis.
There is a somehow hidden way to switch it to Z, but I don't really recommend that.

Best,
Johannes
Title: Re: why the B is always 90?
Post by: lim_zhang on June 25, 2018, 02:15:19 PM
but why i change the tool the ABC is not change?it seem to the ABC is relative to the tool path Plane...
Title: Re: why the B is always 90?
Post by: Johannes @ Robots in Architecture on June 25, 2018, 04:15:05 PM
Well, the "tool axis" of the plane is Z, and the robot-tools's X-axis gets mapped to the plane's Z-axis, hence the rotation around Y (the B-value).
Best,
Johannes
Title: Re: why the B is always 90?
Post by: lim_zhang on June 27, 2018, 07:58:09 AM
thankyou Johannes! i understand
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