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That's what I was afraid of. I actually have taken a look at similar line welding .dat and .src files generated from another program, but they are extremely hard to decipher for someone with zero experience coding in KRL (https://imgur.com/a/LWIhIKX) compared to the ones generated from kukaprc with all the folds, etc. I tried my best to copy the weld commands, but to no success when testing what I came up with. I'll take a look at the documentation though, maybe that could help me in that regard.

Hello

Question on the capabilities on the kukaprc plugin. I am trying to do some welding path planning with the plugin, and I am wondering if there is any support for automatically adding torch commands to the robot's tool path/generated code. For example, I want to simply weld along a line I have generated in GH: (https://imgur.com/a/FPpj3iD), but I only know of the ability to make the torch follow that path currently, not actually turn on the welding torch and weld along that path. I was going to try and copy the commands from a program that I have from another software that I am using (https://imgur.com/a/LxDbLZ5), but I'm very hesitant to try and hard code a KRL file, especially if I can't easily identify what commands need to be where in the one generated from the GH script. (https://imgur.com/a/4ExGyIf)...

I've tried googling and such but this seems to be an extremely niche topic, and I can't find much online about it.

Any help would be greatly appreciated.

Well the problem is the simulation has the tool inside of the table on its startup and ending position, crashing the robot when it tries to go to those positions. So running it as is isn't an option unfortunately and I am struggling to figure out why they aren't correlating. For example, the robot with me has its tool directly vertical to the workpiece while the simulation has it off to the side: https://imgur.com/a/nHy7RvI

I was using base number 6, but the base on the robot was base 0, or the null. To my understanding that is the base with the origin of the global coordinate frame set to the base of the robot, but I could be wrong. In any case, I tried a different base calibrated with the table but yielded similar if not worse results.

https://imgur.com/a/T2fqPLH

Am I doing something incorrect? I'm a little confused. I looked through the calibration post pinned to this page but these calibrations I am using were already provided by another group, and I would like not to overwrite them if possible. I could try to create my own though, if necessary.

Hello all,

I am newish to using KukaPRC, and I am trying to run my first program on the robot using the code generated from my grasshopper script. However, I am having a very difficult time getting the robot in the simulation to match what the robot in the real world is reporting as its starting values.

I'll try to be as descriptive as I can to clear up any confusion:


https://imgur.com/a/Bv8ha1L
Here is the robot with its orientation in GH. The base is the same as the real world example, with the base being the global origin. The tool coordinate frame is also accurate, being measured from the real world example as well as models of the tool, etc. However, the tool's starting position is directly inside of the workpiece (also accurately modeled), having an inaccurate/invalid starting location.

https://imgur.com/a/U4xSR9Z
These are the start position values from the robot. I have them as the start and end position in the KukaPRC core settings.

Why could this be happening? Is there a calibration issue or something else?

any help would be greatly appreciated.