Quote from: Johannes @ Robots in Architecture on October 14, 2014, 04:45:32 PM
KUKA|prc assumes the TCP of a custom tool geometry to be at the global origin of Rhino. On the robot you have to calibrate the tool to get the right XYZ and ABC values. The KUKA manual guides you through all the calibration steps (e.g. first get the right XYZ offset from the flange via "XYZ-4 Point" and then the ABC values via "ABC World").
Best,
Johannes @ Robots in Architecture
It's always difficult to find this kind of tutorial and what you have just published is timely .