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Hello Johannes,

I try to play with circular moves, but I see a strange behavior in the simulation.
I attached an example, where you an see that the A6 axis behaves strangely, and is not correlated to what is written in the "analysis" graph.
The analysis graph tells that the A6 axis should not change, but you can see in the simulation that it changes during the first half of the circular move.

I don't know if I miss something or if there is a bug, but I need your help :)

Best,
Antoine

Hi Johannes,

Is their a solution to programmatically set the START position of a robot?

For the moment I have to change it manually in the Kuka|prc settings window, but it would be really helpful to be able to send it as a variable in order to change it on-the-fly.

My use case is that I have a pipeline for searching collision-free trajectories, and being able to change the start position would highly increase my search space while not increasing the computation time. Indeed, I could add a movement from a false START position to a custom one (adding 1 PTP movement), then change the custom one as any other variable. However this will increase a lot the computation cost of collision checking, whereas I know that I can reach my different START positions safely (through custom sub-functions manually written in my KUKA controller).

Best regards,
Antoine LUCAT

Hi Johannes,

I wanted to report you a bug: some Kuka|prc settings not saved in the .gh file.
For example, the status of "Simulate Without KRL Generation" or the "PTP acceleration" value.

This can be annoying, especially for the status of "Simulate Without KRL Generation" since I run multiple simulation in
a single gh file, then I am not garanteed that the right KRL code is generated.

My Kuka|prc version is 2018-04-27.

Best regards,
Antoine LUCAT

Hello,

For live communication with the robot purposes, I need to have all my movements as "PTP E6AXIS".
Yet, in my KukaPRC pipeline, I use a "PTP Movement" component with specified status & turn values.
Looking at the simulations, I am pretty sure that, for a given PTP E6POS+S/T, it exists an equivalent command of the form PTP E6AXIS.
Is there any possibility to do this conversion?

Regards,
antl