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Thanks for the script Johannes, it works perfectly!  I didn't realize that I had to do the B and C rotations around the transformed axes from the previous rotation. 

I'm trying to move my Kuka to a position in space, record it's Actual Position (X Y Z A B C), and then make a plane in Grasshopper to match that position so I can return to it in future programs.  XYZ is straightforward enough, but can anyone shed light on how ABC translates the axes of a plane? I've tried simply rotating a World XY plane around the World Z,Y, and X axes in turn, but that doesn't work.  Thanks for any thoughts!

Hi everyone

I'm using a Kuka Agilus R900 and PRC V2.  I'm creating a program that basically consists of a long series of repetitive LIN commands to control a hotwire bow on the end of the robot in order to cut a symmetrical shape.  However, my Core is showing that over the course of the program Axis 6 is slowly spinning itself to death.  Adding in periodic PTP commands isn't helping it "unwind".  I'm not sure what's causing this behavior or how to fix it.  Thanks for any help!

Matt Johnson
BS ARCH '17
University of Virginia