Started by Xylotica, March 15, 2022, 04:47:13 PM
QuoteWhen KUKA|prc is set up to use a turntable, then the root point in the turntable component marks the position of the turntable within the robot's global workspace, and the base in the settings is then no longer in relation to the robot base, but in relation to the turntable.When you calibrate the base, it's therefore important to calibrate it as an Offset Base, rather than a normal one. The process with 3 points is the same.
QuoteIf you want to not rotate the coordinate system, you can also attach the "Dummy Axis" component. Let me know if there are issues, we fixed a bug recently that is not yet in the public release.
QuoteYou can extend both axis and Cartesian movement components to accept E1-E4.
QuoteAlso in industry a standard approach would be to move to a safe position,
Quote"Relatively move external axis based on the current robot position as per the IK solver"