[h_orhun]

Hi,

I want to use SLIN and SPTP keywords instead of LIN and PTP in Kuka KRC4.

I use  "KUKA_KRC4" post processor and I can change the line LIN_KEYWORD = "LIN" to  LIN_KEYWORD = "SLIN"

but I couldn't find how to change PTP to SPTP

Could you please help me about it?

[Albert]

It is easy to change the PTP to SPTP movements by customizing the post processor in the following manner:

Code:

    def MoveJ(self, pose, joints, conf_RLF=None):           
        self.addline('SPTP {' + self.angles_2_str(joints) + '}' + self.C_PTP)

Make sure to place the code inside the class section.

I attached the post processor with this modification.

You can find more examples here:
https://robodk.com/doc/en/Post-Processor...SamplePost

[h_orhun]

It is working :)

Thanks Albert,