Messages

Many thanks Johannes for sending the evaluation license and example file. Is there a source for downloading the 3D model of KUKA arms, and where could I find the values for the KUKA robots' axis layout, I couldn't find the values in any of the PDFs i found online.

Many thanks, Johannes, for your offer ... I've checked the existing KR200 comp, it's the basic short-arm version. The KR200 L140-3 is the longest one in his family ... It would be really nice if there is the possibility of having a temporary license, and many thanks in advance.
And is there any instruction or tutorial on how the process of adding a custom model works?

We have recently added a new KUKA arm to our laboratory. It's a "KR 200 L140-3 comp" model. Since it's not included in KUKA|prc's Robot Library, is there a way to add a custom robot to KUKA|prc?

The problem solved;

I've moved the KUKA|prc library to GH's Library folder and removed the folders in Rhinov8 and Rhinov7's package manger folder, and seems that it fixed the problem.

Thanks, Johannes, for installing Community Version on your rhino for testing the code.

The output type from script component is "KUKA|prc Command" and the weird thing is that the error message says:
"1. Data conversion failed from KUKA|prc Command to KUKA|prc Command"

I've checked the probability of having double installation of KUKA|prc ... there were two installations, one in Package Manager folder of Rhino7.0 and one in Package Manager folder of Rhino8.0 ... deleting the one in Rhino7.0 doesn't fix the problem.

I've run the script on another laptop, and it worked, the only difference between the two machines is Rhino's service release version, mine is the latest one (SR17 ... 8.17.25066.7001, 2025-03-07) while SR version of Rhino on the other machine that doesn't have problem with the script is SR11.

I must try to downgrade my Rhino and see if that fixes the problem. Weird!

Is it possible for you to tell the Service Release version of your Rhino Johannes?

Thanks for your reply Johannes;
The problem exists with the latest gh file you've attached. I've checked the installed KUKA|prc version on my machine, its "1.0.8810.26816". Is it possible that the error occurs because I'm using the free version?

Hi Johannes;
Thanks for your reply, regarding your warning, I mostly use KUKAprc for robotic milling applications, and as the milling tool paths consist of linear and circular motions most of the time, I am trying to add an extra component that converts planes into LIN and CIR motions in ONE component (based on the number of planes provided in each branch of component's input, if there is 1 plane the motion will be Linear and if there are 3 planes in the branch the motion is Circular) so the definition could be simplified a lot and redundant processing of planes could be omitted. If what I'm doing is against KUKA|prc's policy let me know.
And regarding the attached example, I connected the output to KUKA|prc's Core component and still have the issue explained above.

I'm currently developing a C# Component in VisualStusio that outputs KUKA|prc Command. The component shows the KUKA|prc type & icon while hovering over the output but when I connect the output wire to KUKA|prc Core component it turnes RED and says, "Data conversion failed from KUKA|prc Command to KUKA|prc Command".
What should I do to solve this problem?
I've attached two screenshots from the definition.

Extra information:

*This is the RegisterOutputParams in VS script:
protected override void RegisterOutputParams(GH_Component.GH_OutputParamManager pManager){
pManager.AddParameter(new GH_PRC_CommandData_param(), "KUKA|prc Command", "COMMAND", "KUKA|prc command containing LIN or CIR movements.", GH_ParamAccess.tree);}

*And this is how I scripted the CommandData for the movements:
KUKAprcCore.PRC_Classes.PRC_CommandData circ = PRC_Commands.PRC_CIRMove(KPStartPlane, KPAuxPlane, KPEndPlane, v, "C_DIS");
KUKAprcGH.PRC_IOClasses.GH_PRC_CommandData PRCCommand = new KUKAprcGH.PRC_IOClasses.GH_PRC_CommandData(circ);