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Hi Johannes,

When trying to run a variety of files on the IIWAs, I am getting a Safety Warning under Safety Control that "Communication to Sunrise failed," which I have not seen before. Sometimes reducing the number of frames generated to reduce the number of PTP commands seems to help, but I have much larger sets of movements that are fine. I cannot figure out what is truly causing the problem. When the error occurs, the runXML application cannot be reenabled. The robot has to be rebooted before I can try again. Most of the safety features in the config are turned off, so I don't think that is the issue. In the application, I get a bunch of errors about reaching a point, but often this is a point that the robot is known to be able to reach.

Files attached for one of the setups causing issues.

Jason

When exporting KUKA CNC, are the Spline and Circ movement components supported? The g-code I am getting doesn't create a G2 or G3 command, it just tells the robot to go to a given point.

I am seeing a disconnect between the simulation and the movement of the IIWA movement when attempting to draw multiple circles.

When creating a CIR movement on the IIWA, my recollection of the proper point order to pick is start (point 1), end (point 2), aux point (aux point).

In Kuka PRC, if I input that point order, the simulation does not show the correct movement, but if I input the points as start (point 1), aux (aux point), end (point 2), the simulation looks correct.

On the robot, the opposite happens. If I input the points as start (point 1), aux (aux point), end (point 2), the robot back tracks when repeating the arc movement to form circles.  If I input the points in the order start (point 1), end (point 2), aux point (aux point), the robot moves correctly.