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Topics - AleInno

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Support / ABC tool angles
« on: August 09, 2019, 01:35:39 PM »
Hi all,

I start a new topic based on this old one: https://forum.robotsinarchitecture.org/index.php/topic,401.msg1133.html#msg1133
because at that time KUKA PRC did not have the option of using Z as tool axis

until now I have used X as a tooling axis, and I have very precise tool calibration values we have achieved in the last months

tool axis are oriented as per this image:


I would like them to be oriented like in $World, which requires a rotation around B by -90 degrees

A= 0.16  does not change
B= -49.945   becomes  -139.945
c= 0.411 does not change

after using these values in KUKAprc (and chosing Z as tooling axis) the tool does not look straight anymore, it looks like the Z axis is slightly in an angle

I think I am not doing it the right way, could plase someone enlighten me on the right procedure to follow?

Thanks!

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Support / Multiple KUKAprc core components on same GH canvas
« on: March 07, 2019, 01:07:04 PM »
Hi all,

I was wondering if it is ok -and if it can be considered good practice- to have several KUKAprc core components in the very same grasshopper canvas

I have several bases that I'd like the KUKA to use in succession for different tasks, and the only way I have found to define a base in KUKAprc is to connect a frame component to the CORE component BASE input, so it will be the very same base for the whole simulation of that CORE component

by being able to have several different KUKAprc COREs in the very same GH canvas (same tool and different base for all of them) I can program a serie of movements, and then stitch their Analysis -> KRL outputs together in a single src file

I would like to avoid editing the KRL outputs, just stitch the different codes together: the only downside to this is that the KUKA will move to the next home position between a code and the other one

does this make any sense to you? :)

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