[goroti]

Hello! I am writing to inquire about two issues related to exporting robot paths using the KUKA KRC4 DAT file format in RoboDK.

1. Missing S and T Variables in E6POS
When exporting robot paths to the KUKA KRC4 DAT format, the E6POS declarations do not include the S (Status) and T (Turn) variables. These variables are essential for correctly defining the robot configuration and axis turn values.
Could you please advise whether there is a setting or configuration within RoboDK that enables the output of S and T values in the E6POS structure? If so, I would appreciate step-by-step guidance on how to enable this.

2. Post Processor Python Script
I would also like to ask whether it is possible to obtain the Python script for the KUKA KRC4 Post Processor. Having access to the source script would allow us to customize the output to better suit our application requirements, including the S and T variable issue mentioned above.
Could you let us know if this is available, and if so, how we can request or access it?

Thank you for your time and assistance. I look forward to your response.

[Leslie]

In RoboDK, the configuration is basically set by the MoveJ you have before any linear moves.

Since that MoveJ locks in the configuration for all the MoveL moves that follow, you just need to include at least one MoveJ at the start to get the Status and Turn variables right.

[Albert]

In RoboDK, the robot configuration (when using KUKA: the S and T flags) can be determined by the MoveJ command preceding any linear moves. The initial MoveJ sets the robot configuration using the joint space, which then applies to all subsequent MoveL moves, ensuring the correct S and T values are included.

If you still want to output the S and T status and turn flags you can use the KUKA KRC4 Config post processor.

Regarding the KUKA KRC4 post processor Python script, it is not publicly available for direct download. However, we can assist with customization requests or provide guidance on modifying post processors to better fit your needs. Please contact us at info@robodk.com for further assistance.