[SamS]

Hello,

I am working on a machining project with KUKA KR10. My goal is to use Fusion 360 for defining CAM projects, then to open path in RoboDK and convert trajectories to robot program. I am using BASE_DATA[9] as origin for the blank, and re-teaching it prior to machining. So far so good.

I have two questions regarding the KRC5 post processor:
- Is it possible to define PTP commands in post processing as PTP_REL with BASE_DATA[9] rather than PTP? PTP uses absolute joint values, which is not suitable for my case.
-  I have set 'FRAME_INDEX = True' and renamed my user frame accordingly as 'Frame 9'. However, the program outputs base as 'BAS(#ex_BASE,1)'. This command fails due to array index being out of range. Substituting this line with '$BASE = BASE_DATA[9]' works fine. Is this a bug or am I not understanding 'BAS' function correctly? I could automate this with Python scripting, but it adds extra steps which is not ideal in my case.

Please let me know if you have ideas how these could be corrected. Thanks!

[Sergei]

- The PTP_REL output format is not supported yet
- The KRC5 postprocessor has several internal options for setting the output of the SetFrame instruction.

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