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Support / Re: Welding Capabilities in Ku...
Last post by tenn6064 - October 17, 2023, 04:24:26 PM
That's what I was afraid of. I actually have taken a look at similar line welding .dat and .src files generated from another program, but they are extremely hard to decipher for someone with zero experience coding in KRL ( compared to the ones generated from kukaprc with all the folds, etc. I tried my best to copy the weld commands, but to no success when testing what I came up with. I'll take a look at the documentation though, maybe that could help me in that regard.
Support / Re: issue between simulation a...
Last post by ludo - October 17, 2023, 01:33:02 PM
I measure the base (base N°6) attached to the rotary axis KP1H;

 when i assign this base to the Rotary axis, then the base 6 is offset from the rotary base, For instance, the origine of base 6 in in the center of the KP1H, but when i want to to go 0,0,0 in base 6, My robot fo this :


I guess it could came my misunderstanding of the "External Kinematics Rotary axis" in KUKA PRC Core.?
I join a definition that cause the difference betwen simulation and reality. (

Support / Re: Welding Capabilities in Ku...
Last post by Johannes @ Robots in Architecture - October 13, 2023, 10:23:35 AM

Personally I'm not a welding expert but I have seen KUKA|prc used for high-end welding and metal-additive processes. From a software point-of-view your best bet would be to use the Custom KRL commands - these KRL commands taken from your reference file are written into the KRL file at the set position, but not simulated.
But as you mention, it is important to understand what those commands are actually doing. The screenshot you posted shows an in-line command, so you definitely cannot just enter ARCON to start welding and ARCOFF to end it. I would recommend taking a look at the LAYERTEST2.src and LAYERTEST2.dat file in WorkVisual or in a text editor to find out what it is actually doing.

I believe ARCON is part of KUKA ArcTech, so take a look at the documentation provided by KUKA. It looks like you might have to replace movement commands with those specific commands, which by default you cannot do. What you could do is post-process the KRL file and e.g. change every LIN command to a welding-specific movement - maybe.

Technically we could add the arc-specific commands as a postprocessor option like CAMRob and CNC, but that is not really on our roadmap at the moment. KUKA|prc grows with our own projects, so a welding project could add that functionality in the future.

Support / Welding Capabilities in KukaPr...
Last post by tenn6064 - October 12, 2023, 06:43:14 PM

Question on the capabilities on the kukaprc plugin. I am trying to do some welding path planning with the plugin, and I am wondering if there is any support for automatically adding torch commands to the robot's tool path/generated code. For example, I want to simply weld along a line I have generated in GH: (, but I only know of the ability to make the torch follow that path currently, not actually turn on the welding torch and weld along that path. I was going to try and copy the commands from a program that I have from another software that I am using (, but I'm very hesitant to try and hard code a KRL file, especially if I can't easily identify what commands need to be where in the one generated from the GH script. (

I've tried googling and such but this seems to be an extremely niche topic, and I can't find much online about it.

Any help would be greatly appreciated.
Awesome, thanks for the update!
General Discussion / Re: Problem with KRL output on...
Last post by TimKennt - October 09, 2023, 07:37:33 PM
Yup, that seems to be it! Didn't know that panels with larger amounts of text were so demanding.

Thanks for helping me out here Johannes!

I sent you a message via the forum regarding that.


That sounds very much like a Grasshopper limitation. Could you try putting the Analysis component into a cluster and check if that makes a difference? It may be just GH trying to display a huge text file...

General Discussion / Re: Problem with KRL output on...
Last post by TimKennt - October 09, 2023, 01:47:17 PM
An update:

I've tested the calculations withe bottleneck navigator and found that the Analysis component has similar calculating time as the KUKA PRC component when no KRL code is pushed to the Analysis component:
KUKA PRC: 359ms
Analysis: 467ms

Also, Grasshopper is completely responsive after the calculations and acts normal.

With the 'Output KRL to Analysis component' option enabled times are very similar (though seamingly switched):

KUKA PRC: 450ms
Analysis: 374ms

Nevertheless Grasshopper is very inresponsive after the calculations are done and KRL code is visible in the panel....

General Discussion / Re: Problem with KRL output on...
Last post by TimKennt - October 09, 2023, 12:47:00 PM
Hi Johannes,

KUKA PRC has no serious problems with the data. Outputting a KRL file to en folder is going pretty well and doesn't take al that long.
It's specifically the analysis component that's struggling and keeps on struggling long after is had already processed everything. In the panel I can see the generated KRL code, so it's done calculating but remains very slow after. For instance it takes more than 2-3 minutes to proces a zoom command.

I'll test if a smaller list will have no issues.