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Topics - singline

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Tutorials / Video Tutorial - Pick & Place Part 2
« on: February 18, 2017, 03:23:46 AM »
Hi Guys,

Continuing from part one we setup multiple bricks to pick and place in Grasshopper with KUKA PRC:

Tutorial here:

Tutorials / Video Tutorial - Pick & Place Part 1
« on: February 09, 2017, 02:47:52 PM »
In this robotics tutorial I go through the basics of setting up a simple pick and place command script for a KUKA robot.

Tutorial here:

Tutorials / Setting up a Custom Tool with XYZ 4-Point Method
« on: January 28, 2017, 04:00:23 PM »
In this robotics tutorial I go through the basics of setting up a custom tool for use on a KUKA using Grasshopper and the robot itself.

Tutorial here:

Tutorials / Video Tutorial - Drawing & Engraving
« on: January 15, 2017, 04:16:40 PM »
Hey Guys,

I've started a series of video tutorials for KUKA PRC and Grasshopper. First one is live now and hot wire cutting is coming up soon!

Support / Tool Offset
« on: September 04, 2016, 06:38:26 AM »
I'm working on a vertical plane in the cell - the tool offset is moving in the z-axis, is there a quick way yo switch to x or y?

- sorted. just had to orientated my planes instead of being lazy.

Support / Extruder for KUKA
« on: August 12, 2016, 01:39:32 PM »
Hi Guys,

I'm wondering if anyone has any experience with making an end effector for 3D printing/extruding on the end of a KUKA. I'm starting at 0 on this one and was hoping for a little leg up to get me started on the actual design and fabrication of the end effector and controlling the plastic flow?

I'm taking inspiration from the works of Fabio Gramazio & Mattias Kohler's work at ETH Zurich, 2013.


Support / Open Close Air
« on: August 03, 2016, 02:11:27 PM »

This one is a little more KRL than PRC. I have a lovely pick and place setup in PRC based on the tutorial file. That works with manual air, but I'm attempting to use the code that the spindle uses when picking up a tool - in my mind this should work - to turn on and off our KUKA's air.

Code: [Select]
GLOBAL DEF OpenCollet()

    ; Stop the spindle if it is running

    ; Open the collet
    doRobCellSpindRel = TRUE



;FOLD CloseCollet
GLOBAL DEF CloseCollet(WaitForTool : IN)

    DECL BOOL WaitForTool, WaitForToolD

    WaitForToolD = TRUE
    WaitForToolD = WaitForTool

    ; Stop the spindle if it is running
    ; Close the collet
    doRobCellSpindRel = FALSE

    IF WaitForToolD THEN


This is not working - so I attempted to frankenstein the code which just threw up more errors.. any one have an ideas?

In my KUKA|PRC I have the custom KRL command ready - I just can't figure out the command I need?

I hope this is somewhat clear.

Support / Tool Path Axis for Hot Wire
« on: July 21, 2016, 03:17:20 PM »

I'm hoping someone can help me - I'm attempting to do circular hot wire cutting. I have everything working apart from that I require the x-axis to always be perpendicular to the cut lines to ensure my tool doesn't pass through the styrofoam. Everything I've tried so far has shifted the Z axis.. ?

I've attached the 3dm and gh.


Support / Custom tool axis issue
« on: May 12, 2016, 11:03:06 AM »
So I've setup a very simple custom tool to hold a chalk pen - photo attached.

The simulation runs all correct based on the 'drawing and engraving' sample provided, but for some reason when exported to the KUKA the robot is going through the table instead of coming down on the z-axis as shown in the simulation?

In the simulation if I set the custom tool Tool B rotation to -90 the simulation is correct but it doesn't seem to correct at the KUKA end?

Any ideas what I'm missing?

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