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Wow that was a fast reply! A fix would be awesome! In the end it is just a cosmetic thing, so no need to hurry if you are very busy right now. My nice week of robot-holidays is over now anyways and I need to go back to university  :-\

[z]

Hello,

I was just confused about differences in the way the tool coordinate-system is defined because it seems to be different in KUKA|prc and in the actual Kuka robot:

• In KUKA|prc the z-axis seems to be pointing into the toolhead (see e.g. attached screenshot of the Elte Spindle) and toolpath utilities like "Divide Curve" only work properly if the tool head coordinate system is aligned in such a way.
• The Operating and Programming Instructions for System Integrators tells me (on page 91), that the x-Axis should be pointing out of the toolhead (see second attachment).

Now I set the coordinate system for my custom tool head in the way that the Kuka Manual told me and did the same thing on the robot controller side and it worked nicely. But as a workaround I need to construct all the linear movement commands on my own without the convenient utilities.

My guess would be, that it is OK to define the coordinate system in one way on the robot and in the other way in KUKA|prc and it should work (I did not test it yet). Is that really the way to go?

Best,

M

Hello,

I spent this week playing with a Kuka KR15 and this awesome Grasshopper Plugin. I noticed though, that in the 3D model of the KR15 there seems to be a slight bug in axis 6: when I rotate it (e.g. just using a simple axis move command) the rotation of the mounting plate is off-center. When I use my custom tool head that one is rotating correctly. So I guess it is more of a cosmetic thing but it confused me at first. The generation of the commands etc. seems to work fine and the real robot behaves correctly (at least I attribute all the destroyed equipment to operator error on my side  :) ).

Best,

M