Issues with Custom Robot Definitions and STL Tool Alignment in KUKA|prc

[Ege]

I am currently evaluating KUKA|prc for our facility's workflow using a 90-day trial license. I have two specific issues that are preventing me from completing our setup:

1. Robot Library Support (KR 120 R3900):
We are specifically using the KUKA KR 120 R3900 robot. Unfortunately, this model is not available in the default library of my current version. As I am on a trial license, the "Custom Robot" component seems to be restricted or I am unable to define new kinematics. Is it possible to obtain the .xml definition for the KR 120 R3900, or is this feature only accessible in the full Member version?

2. STL Mesh Alignment for Custom Tools:
I have designed a custom extruder and imported it into Rhino as an .stl. However, I'm struggling to get it to mount correctly to the robot flange in Grasshopper.

Even when I try to adjust the origin, the "Custom Tool" component doesn't seem to recognize the intended mounting surface as the attachment point. It feels like the component is referencing the mesh's center of mass or the center of its bounding box instead of the flange interface.

My workflow is:

Import STL to Rhino.

Reference Mesh in Grasshopper.

Plug into Custom Tool.

Could you please explain the exact requirements for the STL's orientation and position within Rhino to ensure a perfect snap to the flange (A6)? Do I need to place the mounting surface at World (0,0,0) in Rhino, and which axis should the nozzle point towards for the default TCP orientation?

Any help would be greatly appreciated as we evaluate the software for our production.

[Johannes @ Robots in Architecture]

Hello,
I just checked and the KR120 R3900K is available in both the Quantec 1 and 2 version on my end. The member version gets more frequent updates, so that could be a reason.
However you mention being on a trial version with limited features - basically there are only two feature sets, Community and Full (member/commercial). So it might be that your temporary license isn't installed properly if you do not see the Custom Robot component. Where did you get the trial license from?
Regarding aligning the tool: Assume that the Rhino origin is the robot flange - so the tool should be placed at the zero position. Also, I recommend using the Rhino command ReduceMesh to get the resolution down to around 5000 faces, otherwise it can impact performance.
Best,
Johannes

[Ege]

Hello Johannes,

Thank you for the guidance!

I followed your advice regarding the alignment: I placed the extruder's mounting flange at the Rhino World Origin (0,0,0) and aligned the tool along the Z-axis. It now attaches perfectly to the robot flange in the simulation. I also used the ReduceMesh command as you suggested, which significantly improved the viewport performance.

Regarding the components: Since I am currently using the Community Version, I understand that the "Custom Robot" component and some member-only features are not available. I am evaluating the software for a specific project that involves custom kinematics and complex toolpaths.

Is there a way to request a short-term Trial License for the Member Version? I would like to test the "Custom Robot" functionality and the advanced simulation features before committing to a full commercial/member license.

Best regards.

[Johannes @ Robots in Architecture]

Hi Ege,

Of course, it's not a problem to provide a trial license. Please send me an email to johannes@robotsinarchitecture.org

Best,
Johannes