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Hi Johannes,

-826 is the z-value from the $config file our integrators have set up for precise location of the base. I would assume this gives the Z position where it meets the rail (see photo), relative to the robots base. What I was trying to ascertain before is what the positioners Z is in XYZABC in the PRC. From what you've described, Z would be the location top of the positioner, so could be found by doing -826 + height of positioner. The circle trick sounds much more sensible for this to confirm.

With the positioner root frame, sorry should have be clearer. I found the right-click options. Adjusting A does rotate the robot in relation to the positioner (in my case it would be -90.75 degrees), so it is correct in relation to the positioner, but then both the robot and the positioner are oriented incorrectly to the world XY. The positioner needs to be rotated, so it's motor sits on the X-axis, not the Y-Axis and the robot sits on the Y-Axis. From what I read online the positioner root frame (when you right-click) allows you to specify the orientation of the positioner and then you can position the robot relative to that, but I might be really off with that.

Kind Regards,

Charlie 

Hi all,

I've looked through the forums and followed the advice with setting up a positioner, and have been 95% successful;

- The robot is correctly oriented in the rhino scene
- The positioner is the correct distance from robot
- E2 rotations appear correct in simulations

I have two final issues I'm trying to address.

The first is the positioner needs to be rotated 90 degrees to be accurate to our setup, so the E1 tilts towards and away from the robot. This I assume is done through the Positioner Root Frame, but when I click it nothing pops up or makes a request etc. I'm not sure what's suppose to happen, but I assumed a menu would appear?

The second thing is more a discrepancy than anything else. My KUKA settings on the pendant shows the positioner has a z value of -826 which, when I type that into the gh component is way below where it is in reality. Again this might be solved with the positioner root frame, but I could be wrong?

Hi,

I'm trying to set up a simulation from a direct reading on my .src using the KRL import component. It works fine with the LIN commands but anytime I add in a PTP the core says something is not set to an instance of an object. I've tried a bunch of different KRL syntax for PTP and none are working, any advice would be appreciated.