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Hi Everyone,

I've created a custom tool for my robot and set a tool rotation to orient my tool into a vertical position. But, once it reaches it's first point I want a second rotation for the blade on the XY plane.

I'm coming to an issue where even if I copy my initial rotation and apply a second rotation it's not rotating to an angle I want before reaching the second point. In the attached photo the red arrow shows what's currently happening and the green arrow shows what I want to do.

Could you look at my Rhino + GH. I've already tried Orient Point and that hasn't really worked.

Thank you!


CustomTool_2Rotations_10-27.3dm
CustomTool_2Rotations_10-27.gh 

Hi Johannes!

Sorry for a late response, I am just now returning to this project.

I am able to find the External Axis Inputs on the PTP and LIN components I am using but what I am trying to do is have the turntable be its own command and rotate in between movements (Plane 1 > Rotate Turntable by given amount > Plane 2). I'm not sure if by toggling the external axis its already supposed to do that or if I should toggle something else in the Core.

Best,
Shenaia

Hello Everyone,

I want to mill large geometry using a turntable and am having trouble rotating the turntable without also rotating the robot. I'm using KUKA|prc and a KR C2 controller and am setting up my GH to make a cut, rotate the turntable, then make another cut. I'm trying to set it so I can define the amount of degrees I want the turntable to rotate in between each PTP movement. Is there a component in KUKA|prc I can use, I am not able to find anything similar to this in the forum or online? Thank You!

Hello,

I'm working with a turntable that is off to the left of the robot instead of directly in front. I've relocated the position in my KUKA|prc simulation and have set my geometry for milling but once my simulation gets to 180 degrees it wants to reorient the robot around a single point while the turntable still moves. How can I keep the robot in the same position throughout the entire milling process.