Messages

Hello Johannes,

Yes, exactly. When the Z-axis is parallel to the normal vector of the surface at that point, the end effector height doesn't change along the curvature. However, when I use the tangent plane, for example when I use the evaluate surface component on a curvature, the height of the end effector changes. It either increases above the surface or goes into the surface.
Sorry, i can not attach a bild.

Thank you,
Mohammad

Hello Johannes,

Thank you for the files. I have a question about robot movement on a curved surface. When I use the normal planes, the height of the end effector is different from when I use the tangent planes. Generally, for curved surfaces, should I use the Spline movement component or does that not matter?

Thanks,
Mohammad

Hello Johannes,

thanks, could you please tell me briefly how I can use the (KUKA|prc Change Tool component) and how I can use it in a specific place.
I tried to connect the like this photo, but I lost my first tool.

Thank you,
Mohammad

Hello Johannes,

Thank you very much for your last answer, it was very helpful. I have a question about the tool angles, how can I change the ABC angles during my simulation (ABC tool variables). For example, I want to create my program with B = 0 degrees and after a certain point I want to change the B value to 40 degrees.
Thank you,
Mohammad

Thank you, Johannes, that was a clever idea. Yes, I will connect it that way. Do you know or do you have an example of how I can add a single-axis positioner with a counterbearing (KP1 HC500) in Kuka PRC? You mentioned that a single-axis positioner is not available in Kuka PRC. I want to define a linear axis as E1, a single-axis positioner as E2, and a turntable as E3.

Best,
Mohammad

Thank you for DKP, it was very helpful. I was able to switch the E1 and E2. we have also a robot with an axis positioner (KP1 HC500) as E1 and a linear axis (KL 4000) as E2. Is it possible to switch the external axes here similar to DKP? If not through GH components, is it through WorkVisual? If yes, could you advise me on some manuals or tutorials on how to make these changes?

Thank you,
Mohammad

Hello Johannes,

I have a question regarding the external axes. Is it possible to define the external axes differently in Kuka|prc? For example, for DKP-400 v2, defining E1 for rotational movement and E2 for tilting.

Thank you in advance for your assistance.

Best,
Mohammad

Hello Johannes,

Thank you very much for your response, and I'm sorry for replying late. I was waiting for the new robot to be installed to measure the XYZABC.
I measured XYZABC from the base and entered the resulting values with the same base number in KUKA|prc. The values are as follows:
X= 2011.78, Y= 221.90, Z= -34.91, A= -0.08, B= -0.03, C= 179.99.
However, in the .src file, X has negative values (X= -1940), and when I try to run the simulation, I get the following error: "Unreachable point Software end switch-A5." Attached, you will find my simulation in Grasshopper and photos of the TCP/Base coordinates, as well as the mentioned error.
Could you please check the simulation file to see where I went wrong?
It would be very kind of you to assist.

Thank you,
Mohammad

First of all, thank you very much for your response. As you mentioned, I set the root
position Frame by right-clicking on DKP 400. However, what is still unclear for me is
how to use the two axes of this component simultaneously, specifically for rotation in
the y and z directions. I attempted to define a position for DKP 400 in the Base
section using E1 and E2, but when I run the simulation, the accuracy is not
satisfactory. Can you please show me how to adjust the value in this file? In the
attachment, you can find the Grasshopper and Rhino files. Additionally, could you
please guide me on the value that should be defined in the dynamic value by vector
for the Rotary axis?
The second question is regarding where I can find the KP1-HC500 R1200-2 (one-axis
positioner).

best,
Moh

Hello everyone

I would like to inquire about how to add an axis of rotation, as detailed in the attachment to the Grasshopper.

Best regards,
Moh