Recent posts

#11
General Discussion / Re: rotational_axis
Last post by Moh.Yazdan - March 22, 2024, 11:22:05 AM
Hello Johannes,

thanks, could you please tell me briefly how I can use the (KUKA|prc Change Tool component) and how I can use it in a specific place.
I tried to connect the like this photo, but I lost my first tool.

Thank you,
Mohammad
#12
General Discussion / Re: rotational_axis
Last post by Johannes @ Robots in Architecture - March 22, 2024, 10:47:10 AM
Hello,

Well, that depends, you can change your tool (KUKA|prc Change Tool component) to another tool with a different tool number and XYZABC values (make sure they also exist on the robot controller!), or you can rotate the planes that make up your toolpath.

Two things to note: KUKA|prc by default works with X as the tool axis, which can be confusing especially to experienced robot users.
The ABC values are not "unique"; there are multiple combinations that express the same orientation. So don't be alarmed if you rotate a plane and, at a certain point, the ABC values make a large jump.

Best,
Johannes
#13
General Discussion / Re: rotational_axis
Last post by Moh.Yazdan - March 22, 2024, 10:28:23 AM
Hello Johannes,

Thank you very much for your last answer, it was very helpful. I have a question about the tool angles, how can I change the ABC angles during my simulation (ABC tool variables). For example, I want to create my program with B = 0 degrees and after a certain point I want to change the B value to 40 degrees.
Thank you,
Mohammad
#14
Support / Re: In which coordinate system...
Last post by Johannes @ Robots in Architecture - March 16, 2024, 11:42:26 AM
Hello,
The posture values relate to the so-called "status" value, which defines the robot's posture through three bits. You should have gotten some KUKA manuals along with your robot; otherwise, you could search for "KUKA KRC manual pdf" or "KUKA KSS pdf" or something similar, and it will have a section on "Status and Turn."
In (my) practice, the essential options are 010 and 110, which (indirectly) set the orientation of A4.
Let me know if you cannot find the relevant PDFs, then I can send you a direct link!
Best,
Johannes
#15
Support / Re: In which coordinate system...
Last post by harper - March 16, 2024, 06:34:39 AM
Thank you Johannes! Your suggestion was really helpful, and I understand it completely.
Now I have another question that confuse me.
I suppose that the "initial posuture" option in the advanced settings changes the movement to the first point , then what do those numbers (0 and 1) mean? and what is the difference between different options? I would appreciate it if you could help me with my new question.
#16
Support / Re: In which coordinate system...
Last post by Johannes @ Robots in Architecture - March 09, 2024, 03:15:16 PM
Hello,

The Rhino origin is always the origin of your base, so when the robot is at base 0, it will stand "on top" of the Rhino global origin. If the base has X set to 500, the robot will move back 500mm so that the base is 500mm in front of it.

I hope that makes sense! We wanted to ensure that the geometry does not "move around", but the robot does.

Best,
Johannes
#17
Support / Re: In which coordinate system...
Last post by harper - March 09, 2024, 01:01:46 PM
Thank you Johannes! I notice that if I set the base, then the robot will move. Does the initial origin where the robot were become the origin in base system,that's to say, the place where the robot was originally placed becomes the workspace?
#18
Support / Re: In which coordinate system...
Last post by Johannes @ Robots in Architecture - March 08, 2024, 02:50:17 PM
Hello,

That depends, if you set the base in the settings to base 0, all movements will be in the world coordinate system. If you set a base, then it will be within that base. Note that KUKA|prc puts the base number into the SRC file, but by default does not hardcode the XYZABC values.

Best,
Johannes
#19
Support / In which coordinate system is ...
Last post by harper - March 08, 2024, 01:38:35 PM
Hi there!
Are the movement instructions in the final src file the instructions of tcp in the world coordinate system? I have set the base coordinate system. How can I export the movement instructions of tcp relative to the base coordinate system?
#20
Support / Re: MacOS KukaPRC Alternate Co...
Last post by Johannes @ Robots in Architecture - March 06, 2024, 07:41:23 AM
Hello Louis,

You are definitely in uncharted territory here, but technically I don't see anything that should go wrong here. But Macs can be weird sometimes, like with file paths and how strings are formatted.
In this case, make sure to disable krlon. It's an If-Else if... structure that is dates back a long time.

Best,
Johannes