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Community documentation for Grasshopper add-ons & plugins

01 | Core
02 | Virtual Robot
03 | Virtual Tool
04 | Toolpath Utilities
05 | Utilities
06 | Online

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.

Inputs

NameIDDescriptionType
KUKA|prc CommandCMDS1 KUKA|prc LIN/PTP/CIR/SPL movement commands is required to offset the toolpath along the toolaxis.CommandData
Offset Along ToolaxisOFFSETOffset Along ToolaxisNumber
Offset StartSTARTIf enabled offset first pointBoolean
Offset EndENDIf enabled offset last pointBoolean
Offset SpeedOFFSET VEL(Optional) Provide a list of three speed values in m/sec. The first one defines the speed with which the robot approaches the initial, offset position (Rapid), the second one how fast it moves downwards (Approach) and the third one how fast it lifts off (Retract). If only a single value is provided, it will apply to all fields. If no value is provided, the speed from the previous movement will be selected.Number

Outputs

NameIDDescriptionType
KUKA|prc CommandCMDSList of KUKA|prc Commands with offset start and/or end position.CommandData

Video Tutorials

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