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KUKA Prc Pro
ADDON. Version 1.1.0. Released on 2019. Provides 89 components. Created by Johannes Braumann (Robots in Architecture). Features 12 video tutorials.
KUKA|prc enables you to program industrial robots directly out of the parametric modelling environment, including a full kinematic simulation of the robot. The generated files can be executed at the KUKA robot, without requiring any additional software. The Pro version includes: Support for external axes, G-Code-import from Fusion 360, KRL import, 3D-printing Slic3r import, Full access to Simulation analysis output for automated optimization/evaluation, Support for 7-axes KUKA iiwa robot, CAMRob/Sunrise/KUKA.CNC code output, RoboTeam support, Remote control through mxAutomation.
02 | Virtual Robot
| Cybertech KR22 R1610 Robot (KR22 R1610) Kinematic robot model for the KUKA Cybertech KR22 R1610 robot. | |
| KMP 200 mobile platform (KMP 200) KMP 200 mobile platform. | |
| KR60L30/HA Robot (KR60L30) Kinematic robot model for the KUKA KR60L30 and KR60L30 HA variant. | |
| Quantec KR90-KR120 R2900 Robot (KR90-KR120 R2900) Kinematic robot model for KUKA Quantec robots with 2900mm reach, such as KR90 R2900, KR120 R2900. | |
| Fortec KR480 R3330 MT Robot (KR480 R3330) Kinematic robot model for the Fortec KR480 R3330 MT robot. | |
| iiwa LBR14 R820 Robot (LBR14 R820) Kinematic robot model for the KUKA iiwa LBR14 R820. | |
| Cybertech nano KR10 R1420 Robot (KR10 R1420) Kinematic robot model for the KUKA Cybertech nano KR10 R1420 robot. | |
| Custom Robot (CUSTOM ROBOT) Defines the kinematic and geometric properties of a robot to be used in KUKA|prc | |
| Quantec KR120 R3900K Robot (KR120 R3900K) Kinematic robot model for the shelf-mounted KUKA KR120 R3900K robot. | |
| KR200 comp Robot (KR200 comp) Kinematic robot model for the KUKA KR200 comp robot. | |
| Agilus KR6-10 R1100-2 Robot (KR6-10 R1100-2) Kinematic robot model for the KUKA Agilus KR6-KR10 R1100-2 robot. | |
| Agilus KR6-10 R900 Robot (KR6-10 R900) Kinematic robot model for the KUKA Agilus KR6-KR10 R900 robot. | |
| Quantec KR90-KR270 R2500 Robot (KR90-KR270 R2500) Kinematic robot model for KUKA Quantec robots with 2500mm reach, such as KR90 R2500, KR120 R2500, KR150 R2500, KR210 R2500, KR270 R2500. | |
| Quantec KR90-KR270 R2700 Robot (KR90-KR270 R2700) Kinematic robot model for KUKA Quantec robots with 2700mm reach, such as KR90 R2700, KR120 R2700, KR150 R2700, KR210 R2700, KR270 R2700. | |
| Quantec KR90-KR270 R3100 Robot (KR90-KR270 R3100) Kinematic robot model for KUKA Quantec robots with 3100mm reach, such as KR90 R3100, KR120 R3100, KR150 R3100, KR210 R3100, KR270 R3100. | |
| KR150-240 - 2 L130/210 Robot (KR150-240 L130-210) Kinematic robot model for the KUKA R150-2 L130, KR180-2 L150, KR210-2 L180 and KR240-2 L210 robot variants. | |
| Quantec-2 KR250-KR300 R2700 Robot (KR250-KR300 R2700-2) Kinematic robot model for KUKA Quantec-2 robots with 2700mm reach with the larger flange, such as KR250 R2700, KR300 R2700. | |
| KR5 arc HW Robot (KR5 arc HW) Kinematic robot model for the KR5 arc HW robot. | |
| KR30/60/HA Robot (KR30-60) Kinematic robot model for the KUKA KR30, KR60, and HA variants. | |
| KR6/16/20-3 Robot (KR6-16-20) Kinematic robot model for the robot models KR6, KR16, and KR20-3. | |
| Quantec KR90-KR150 R3700K Robot (KR90-KR150 R3700K) Kinematic robot model for shelf-mounted KUKA Quantec robots with 3700mm reach, such as KR90 R3700K, KR150 R3700K. | |
| Robot Cell (ROBOT CELL) Defines a robot cell, where the robot is placed at the global origin. Can also be used just to restrict the robot's preset axis limits. | |
| Agilus KR6-10 R1100 Robot (KR6-10 R1100) Kinematic robot model for the KUKA Agilus KR6-KR10 R1100 robot. | |
| Fortec KR600 R2830 Robot (KR600 R2830) Kinematic robot model for the Fortec KR600 R2830 robot. | |
| Turntable by Global Robots (GLOBAL TT) Custom turntable by Global Robots based on used KUKA motors. www.globalrobots.com | |
| KR125/2-200/2 Robot (KR125-200) Kinematic robot model for the for KUKA KR125/2, KR150/2, KR200/2 variants. | |
| Quantec-2 KR120-KR210 R2700 Robot (KR120-KR210 R2700-2) Kinematic robot model for KUKA Quantec-2 robots with 2700mm reach, such as KR120 R2700, KR150 R2700, KR210 R2700. | |
| Cybertech KR12-KR20 R1810 Robot (KR12-KR20 R1810) Kinematic robot model for the KUKA Cybertech KR12 and KR20 R1810 robot. | |
| Agilus KR6-10 R1100-2 w/ AirSkin Robot (KR6-10 R1100-2 AS) Kinematic robot model for the KUKA Agilus KR6-KR10 R1100-2 robot with AirSkin. | |
| Quantec-2 KR210 R3100 Robot (KR210 R3100-2) Kinematic robot model for KUKA Quantec-2 KR 210-R3100 with 3100mm reach. | |
| Agilus KR6-10 R900-2 Robot (KR6-10 R900-2) Kinematic robot model for the KUKA Agilus KR6-KR10 R900-2 robot. | |
| Dummy Axis (AXIS) Kinematically not linked or simulated axis. | |
| Quantec-2 KR180-KR240 R2900 Robot (KR180-KR240 R2900-2) Kinematic robot model for KUKA Quantec-2 robots with 2900mm reach with the larger flange, such as KR180 R2900, KR240 R2900. | |
| KR1000 Titan Robot (KR1000) Kinematic robot model for the KUKA KR1000 Titan robot. | |
| KR150-240 - 2 L110/180 Robot (KR150-240 L110-180) Kinematic robot model for the KUKA KUKA KR150-2 L110, KR180-2 L130, KR210-2 L150 and KR240-2 L180 robot variants. | |
| KR6/16 Arc Robot (KR6-16 Arc) Kinematic robot model for the KR6/16 Arc robot. | |
| KR30L16 Robot (KR30L16) Kinematic robot model for the KUKA KR30L16 robot. | |
| DKP 400 (DKP400) Geometric and kinematic definition of the KUKA DKP400 two-axis positioner | |
| KL1500-3 Linear Axis (KL1500-3 RAIL) Parametric geometric and kinematic definition of the KUKA KL1500-3 linear rail | |
| Quantec-2 KR120-KR150 R3100 Robot (KR120-KR150 R3100-2) Kinematic robot model for KUKA Quantec-2 robots with 3100mm reach, such as KR120 R3100, KR150 R3100. | |
| KR360-500-2 Robot (KR360-500-2) Kinematic robot model for the KUKA KR360-500-2 robot variants. | |
| Custom Turntable (CUSTOM TT) Customizable, vertical turntable. | |
| Custom Linear Axis (CUSTOM RAIL) Customizable geometric and kinematic definition of a linear rail | |
| Agilus KR3 R540 Robot (KR3 R540) Kinematic robot model for the KUKA Agilus KR3 R540 robot. | |
| Quantec KR120 R1800 nano Robot (KR120 R1800) Kinematic robot model for the KUKA KR120 R1800 nano robot. | |
| KR150-240-2 Robot (KR150-240-2) Kinematic robot model for the KUKA KR150-2 to 240-2 robot variants. | |
| Agilus KR6 R700 Robot (KR6 R700) Kinematic robot model for the KUKA Agilus KR6 R700 robot. | |
| iiwa LBR7 R800 Robot (LBR7 R800 Robot) Kinematic robot model for the KUKA iiwa LBR7 R800 Robot. |
05 | Utilities
| Analysis (ANALYSIS) Analysis data that exposes axis values and other data e.g. for automatic optimization. | |
| Digital Output (DIGITAL OUT) Changes the state of a digital output. | |
| 3 Points to Plane (3PTS TO PLN) Turns a set of three points into a plane, to be used in a KUKA|prc movement command | |
| Extract Command - KUKA|prc (EXTRACT CMD) Extracts planes and axis values from KUKA|prc command components. | |
| Tag (TAG) Tags a movement component so that you can identify it in the Analysis component, use e.g. for automatic optimization. | |
| Wait For Digital Input (WAIT FOR) Stops the robot until a digital input is triggered. | |
| Wait (WAIT) Stops the robot for a time provided in seconds. | |
| Command Weaver (CMD WEAVE) This component will weave together KUKA|prc commands | |
| Transform Command - KUKA|prc (XFORM CMD) Transforms Cartesian movement commands. | |
| Group/Ungroup Commands (GROUP) Groups and ungroups commands. | |
| Analog Output (ANALOG OUT) Changes the state of an analogue output. | |
| Frame (FRAME) Defines a frame, used e.g. for setting the base system without going through the GUI. | |
| Synchronize Robots (SYNC) Synchronizes multiple robots. |
04 | Toolpath Utilities
| Safe Plane (SAFE PLANE) Adds an additional LIN movement at the beginning and/or at the end of a list of robot movement commands. The origin of the LINear movement will be projected onto a plane. | |
| Tangential Offset (TANGENTIAL OFFSET) Adds an additional LIN movement at the beginning and/or at the end of a list of robot movement commands. The LIN movement will be offset tangentially, e.g. to start a toolpath outside of the material. | |
| Generic NC Import (IMPORT CAM) Imports 5-Axis NC code. | |
| G-Code Import for 3D Printing (IMPORT G-CODE) Imports g-code for 3D Printing. Tested with Netfabb, but should work with most slicers. | |
| Reduce Toolpath (REDUCE PATH) Reduces a list of LINear movements, similar to 'Reduce Polyline' but also respecting the changing angle values. Only input LINear movements. | |
| Fusion 360 NC Import (IMPORT FUSION CAM) Imports 5-Axis NC code from Fusion 360. Get the postprocessor by right-clicking the component and choosing the relevant option. | |
| Sunrise Set Compliance (SR COMP) Experimental: Sets compliant/'soft' mode for robots running Sunrise. Does not yet support all movement commands. | |
| KRL Import (IMPORT KRL) Reads a KRL file (either | |
| Tool Axis Offset (TOOL AXIS OFFSET) Adds an additional LIN movement at the beginning and/or at the end of a list of robot movement commands. The LIN movement will be offset along the tool axis, e.g. for approach movements. | |
| Cartesian Offset (CARTESIAN OFFSET) Adds an additional LIN movement at the beginning and/or at the end of a list of robot movement commands. The LIN movement will be offset according to the cartesian XYZ values. | |
| Orient Plane (ORIENT PLN) Orients the -X axis of a plane to a given point. |
01 | Core
| KRL Code (KRL CODE) The KRL Code component will take the provided text and write it at the according position into the KRL file | |
| SPLine Movement (SPL MOVE) Robot path interpolated as a spline through a list of planes. The robot will move along the smooth spline. | |
| AXIS Movement (AXIS MOVE) Robot movement defined through axis values. The robot will move to the given axis position in the most efficient manner. | |
| PTP Movement (PTP MOVE) Robot target defined through a plane. The robot will in the most efficient manner to the provided plane. | |
| CIRcular Movement (CIR MOVE) Robot movement defined through an arc. The robot will move along the arc. | |
| KUKA|prc CORE (KUKA|prc) KUKA|prc core component containing all core functionality such as simulation and code generation | |
| LINear Movement (LIN MOVE) Robot target defined through a plane. The robot will move in a straight line to the provided plane. |
03 | Virtual Tool
| Change Tool (CHANGE TOOL) Changes the currently used tool at the robot. This component will not e.g. intialize a physical toolchange, but instructs the robot to use a different tool number. | |
| Generic Spindle (SPINDLE) Tool definition of the standard KUKA spindle by HSD. | |
| Multi-State Tool (MS TOOL) Creates a tool with multiple states, e.g. open and closed gripper. Will take XYZABC values from first tool. | |
| Custom Tool: Plane (CUSTOM TOOL: PLN) Custom tool defined by a mesh and the tool frame. Either set the tool number and plane (with the plane's Z-vector defining the tool axis) or right-click and switch to direct frame input. | |
| Elte Spindle (ELTE) Tool definition of the Elte spindle with custom mount as used at the University for Applied Arts (www.roboticwoodcraft.com). | |
| Kress 1050 Spindle (KRESS SPINDLE) Tool definition of a Kress 1050 compact milling spindle with custom mount. | |
| Custom Tool (CUSTOM TOOL) Defines a custom tool |
06 | Online
| mxA Setup (mxA SETUP) Setup component for direct robot control via KUKA mxAutomation | |
| mxA Display (mxA DISPLAY) Links the visualization to a mxAutomation component. Can be disconnected afterwards to avoid 'circular' definitions - i.e. the feedback can inform the path planning. | |
| Sunrise Communicator (SUNRISE) Experimental: Exchange data with robots running the KUKA Sunrise platform |
Site design © Robin Rodricks.
Site co-created by Andrew Heumann.
KUKA Prc Pro and associated data © 2024 Johannes Braumann (Robots in Architecture).
Rhinoceros and Grasshopper are registered trademarks of Robert McNeel & Associates.
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