[Kenn_Tran]

After updating RoboDK and it's API to 5.8, when I generate the program for a KUKA robot the base seems to have been replaced with another line:

Code:

; ---- Setting reference (Base) ----
; BASE_DATA[1] = {FRAME: X -5352.670,Y 1833.240,Z 1250.080,A -90.198,B 0.404,C 0.073}
BAS(#ex_BASE,1)
; --------------------------

How do I revert it back to use the original method of creating the base before the update?

Code:

; ---- Setting reference (Base) ----
; Using external axes
; $BASE=EK(EX_AX_DATA[1].ROOT,EX_AX_DATA[1].EX_KIN,EX_AX_DATA[1].OFFSET)
; $ACT_EX_AX= 1
$BASE = {FRAME: X  -5352.670,Y 1833.240,Z 1250.080,A -90.198,B 0.404,C 0.073}
; --------------------------

[Albert]

Did you change some settings of the default KUKA post processor or created a custom driver? If so, I recommend you to create a new file to make sure your edits are not overwritten by an update.

Also, some settings can make RoboDK output setting the frame index instead of the name. For example, with the KUKA post processor, if you set the BASE_INDEX flag to True, it will export the Frame index instead of the pose when the frame index is provided in the name of the frame of RoboDK. For example, if your reference frame name is "Frame 2" it will export as BASE_DATA[2]) instead of the pose.

[Kenn_Tran]

The settings and everything is set to their defaults and I don't have a custom driver nor have I done any changes to the post processor. For the time being, I just edited the post processor to create the full pose instead.

[Albert]

The default behavior of RoboDK's official driver for KUKA KRC2 controllers should be to always export the pose for tools and frames. You can find more information here:
https://robodk.com/post/KUKA-KRC2

[Kenn_Tran]

I just tried removing the synchronization of all three robots and when I generate the program again. It was able to properly create the base correctly. I used the KUKA KRC2 post processor.

Code:

; ---- Setting reference (Base) ----
$BASE = {FRAME: X 1750.000,Y -50.001,Z -201.000,A 0.000,B 0.000,C 0.000}
; --------------------------

Is there another setting I'm missing that is causing it to not be correct when the robots are synced?