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KUKA|prc CORE
KUKA|prc core component containing all core functionality such as simulation and code generation. Provide a slider from 0.0-1.0 for controlling the simulation, a series of robot commands as well as a robot definition. Optionally provide a tool definition and geometry for collision checking. Access the settings by right-clicking the component.
Inputs
| Name | ID | Description | Type |
|---|---|---|---|
| Simulation Slider | SIM | Number slider ranging from 0.0 to 1.0 for controlling the simulation position. The values are normalized in that range, taking the movement speed and calculated total time into account. | PRCNumber |
| KUKA|prc Commands | CMDS | A series of KUKA|prc Commands (e.g. LINear, PTP, AXIS movements) that define the robot's toolpath. | CommandData |
| Tool | TOOL | Optional. Tool definition providing the properties and geometry of the attached tool. If no tool is connected, the simulation will assume a tool number of 0 and 0,0,0,0,0,0 as XYZABC values. | ToolData |
| Robot | ROBOT | Robot definition providing the kinematic properties and geometry of the robot. | RobotData |
| Collision Geometry | COLLISION | Optional. A series of meshes that define collision geometry. Enable collision checking in the KUKA|prc settings. Note that collision checking has got a large, negative impact on KUKA|prc performance. | Mesh |
Outputs
| Name | ID | Description | Type |
|---|---|---|---|
| Robot Geometry | GEO | A datatree containing geometry for visualization. Branch 0 contains meshes, branch 1 the relevant colors and branch 2 the curves. Bake it or connect it to a Custom Preview component e.g. for visualization and rendering. | Goo |
| Analysis Output | ANALYSIS | In-depth access to the simulation values is provided through the separate KUKA|prc Analysis component. Provided only to members of the Association for Robots in Architecture. Enable it via the Settings window. | AnalysisData |
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Site co-created by Andrew Heumann.
KUKA Prc and associated data © 2024 Johannes Braumann (Robots in Architecture).
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