We have a new enhancement to our KUKA Translator. It now supports Spline move upload and download.
KUKA has individual Spline moves, which are SPTP, SLIN, and SCIRC. There are also 2 kinds of Spline blocks, which are Spline block and PTP Spline block. A PTP Spline block can only contain SPTP moves, while a Spline block can contain SPL, SLIN, and SCIRC moves.
To facilitate RRS simulation of Spline motion, KUKA Spline moves are uploaded with KUKA RRS Spline profiles set.
For individual Spline moves, the KUKA RRS Spline Motion Type Profile (V8.3+ RCS) is set, and the values are SPTP, SLIN, SCIRC, SCIRCV, and SPL. Note that here motion type SPL is used with Spline block.
For Spline block moves, the KUKA RRS Spline Block Type Profile (V8.3+ RCS) is set, and the values are Spline, PTP_Spline, EndSpline, and None (for moves in the middle of the blocks).
With the KUKA RRS Spline profiles set on the motion activities, they will be downloaded to individual KUKA Spline moves or Spline block moves.
One more thing to add, KUKA translator now supports functions, such as DEFFCT E6POS kukafunction(). The KUKA function is still uploaded as a DELMIA task, and the return data type of the function is stored in OLP Task Properties in the form "ReturnType:
