Much appreciated Johannes.
I didn't know there was a KUKAprcCORE library to use!!
16 years ago... That's awesome man!
I didn't know there was a KUKAprcCORE library to use!!
16 years ago... That's awesome man!
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#2
Tutorials / Re: Example solver for E1/E2 === ABC angles
October 16, 2025, 02:34:19 AM
Understandable - let me try to clear things up.
Luckily, we are not trying to do something like joint solutions.
I only say 8-axis to imply we are using some level of coordinated motion, with a coupled base frame to a table that tilts and rotates.
Solving for tool angles is a challenge, especially in that scenario. When the base frame is tilted and rotating, the tool angles are dynamic the entire time.
Up until now, I've really just been trying to calculate the ABC angles in grasshopper, with vanilla component blocks, looking at the Cplane and tool frames we want to move to. The solvers I've built always seem to just be special case solutions....
Let me put my question in different words:
When finding the rotation angles of the tool frame to the base, is there a correct order to derive them?
Or, are there conventions of how to arrive at the ABC (Rz, Ry, Rx)?
Luckily, we are not trying to do something like joint solutions.
I only say 8-axis to imply we are using some level of coordinated motion, with a coupled base frame to a table that tilts and rotates.
Solving for tool angles is a challenge, especially in that scenario. When the base frame is tilted and rotating, the tool angles are dynamic the entire time.
Up until now, I've really just been trying to calculate the ABC angles in grasshopper, with vanilla component blocks, looking at the Cplane and tool frames we want to move to. The solvers I've built always seem to just be special case solutions....
Let me put my question in different words:
When finding the rotation angles of the tool frame to the base, is there a correct order to derive them?
Or, are there conventions of how to arrive at the ABC (Rz, Ry, Rx)?
#3
Tutorials / Re: Example solver for E1/E2 === ABC angles
October 14, 2025, 07:07:41 PM
".... But what do you mean by a "tool angle calculation for 8 axis"? Because your robot plus 2 external axes would be already 8 axes?"
We are in a position where we would benefit greatly from performing independent tool angle calculation for a toolpath using 8 axes.
The tool angles in 8 axis printing change in a way we've had a hard time deriving.
The math is hard to figure out a general solution for!
We are in a position where we would benefit greatly from performing independent tool angle calculation for a toolpath using 8 axes.
The tool angles in 8 axis printing change in a way we've had a hard time deriving.
The math is hard to figure out a general solution for!
#4
Tutorials / Re: Example solver for E1/E2 === ABC angles
October 10, 2025, 07:06:25 PM
Johannes, thanks for the reply.
By ABC, I refer to the tool angles.
I do WAAM with KUKA PRC. Necessary to keep welded area upright in some cases because welding creates newtonian fluid.
We are interested in having an open tool angle solver so we may run a slightly modified toolpath in parallel.
We can solve for moving the table to keep the tool vertical, but reliable and robust tool angle calculation for 8 axes has eluded us for a while now.
By ABC, I refer to the tool angles.
I do WAAM with KUKA PRC. Necessary to keep welded area upright in some cases because welding creates newtonian fluid.
We are interested in having an open tool angle solver so we may run a slightly modified toolpath in parallel.
We can solve for moving the table to keep the tool vertical, but reliable and robust tool angle calculation for 8 axes has eluded us for a while now.
#5
Tutorials / Example solver for E1/E2 === ABC angles
October 07, 2025, 07:09:29 PM
Hello there.
Looking for an example here. I want to make something generalized which solves for not only E1,E2 just based off frames, but also ABC - for one of our on-board tools.
Has anyone created such a generalized solver?
Simply hand the frames and angles are calculated to say, keep a tool vertical, while table pitches and rotates.
I'm having a great time trying myself, but I'm afraid there are maybe some fundamentals I'm missing here, mainly in what to compare for the tool angles in 8 axis operation.
Looking for an example here. I want to make something generalized which solves for not only E1,E2 just based off frames, but also ABC - for one of our on-board tools.
Has anyone created such a generalized solver?
Simply hand the frames and angles are calculated to say, keep a tool vertical, while table pitches and rotates.
I'm having a great time trying myself, but I'm afraid there are maybe some fundamentals I'm missing here, mainly in what to compare for the tool angles in 8 axis operation.
#6
Support / Adding the option for .DAT file generation
November 12, 2024, 08:10:55 PM
Hey there.
We're in need of the ability to generate .dat files to work with kuka arctech. It would benefit us to be able to automatically generate a DAT file containing some data we'd like to have the program reference.
For reference, this is to be able to change welding parameters between a Kuka KRC4 and Fronius power source.
Also open to alternative solutions. We've been trying to change the settings based on a signal declaration for a bit to no avail.
We're in need of the ability to generate .dat files to work with kuka arctech. It would benefit us to be able to automatically generate a DAT file containing some data we'd like to have the program reference.
For reference, this is to be able to change welding parameters between a Kuka KRC4 and Fronius power source.
Also open to alternative solutions. We've been trying to change the settings based on a signal declaration for a bit to no avail.
#7
Support / KUKA PRC models block out grasshopper previews
June 25, 2024, 09:27:05 PM
Hello everyone,
Not sure if this is a documented bug, but it appears as though robots (KUKA DKP table shown here) block grasshopper previews (as well as the CPlane in rhino).
The previews are not actually blocked by the robot models, but the model rendering is applied over the previews and rhino objects?
It's difficult to describe, but the problem constantly necessitates for me to turn off the PRC Core preview so I can see the preview geometry and CPlane.
-Chris
Not sure if this is a documented bug, but it appears as though robots (KUKA DKP table shown here) block grasshopper previews (as well as the CPlane in rhino).
The previews are not actually blocked by the robot models, but the model rendering is applied over the previews and rhino objects?
It's difficult to describe, but the problem constantly necessitates for me to turn off the PRC Core preview so I can see the preview geometry and CPlane.
-Chris
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