Autodesk PowerMill

Robot Setup
KUKA Robot
KUKA Robot Setup
This document describes the default parameters of a 6 axis KUKA robot and lists the information
needed to run it.
Warning: Check all these points carefully as the robot may have been set up in a different way by
the robot integrator.

1. Axis names and directions

A3 A4
- +

+ - A6
- +
A5
A2 + -

-
+ - Current position:
+ A1 = 0°
A1 A2 = - 90°
A3 = 90°
A4 = 0°
A5 = 0°
A6 = 0°

Autodesk PowerMill KUKA Robot Setup 1

2. KUKA robot “world workplane” position

The KUKA robot world workplane is positioned at the intersection of axis one and the robot base.

3. KUKA robot “Zero position”

When all axes are at their 0° position, the robot looks like the pictures below.

2 KUKA Robot Setup Autodesk PowerMill

4. KUKA Robot “6th axis workplane orientation”

The 6th axis default orientation is shown below.

Y
Y
X

5. “Tool workplane” definition

A tool workplane is called “Tool Data” (TOOL_DATA[n]). KUKA uses a “ZYX rotary” Euler angle
convention to define the tool workplane orientation, from the 6th axis workplane.

These rotations around Z, Y and X give A, B, C rotations in KUKA’s naming convention.

This tool workplane is defined using move, and then rotate:

- First, move along X, Y and Z axes (from the 6th axis workplane).
- Then rotate Z (A), then Y (B), and X (C) around the transformed workplane, to get the desired
orientation.

The next example describes a KUKA Tool Data (TOOL_DATA number 1), the definition of which is:

TOOL_DATA[1] = { X 229.62, Y0, Z100, A0, B-90, C0 }

Autodesk PowerMill KUKA Robot Setup 3

5.1 Move…

Move along each axis of the 6th axis robot workplane.

X = + 229.62 mm
Y = 0 mm
Z = + 100 mm

229.62 mm

100 mm
5.2 …Then Rotate

Rotate around Y axis of -90° to get the result below.

A (Rz) = 0°
B (Ry) = - 90°
C (Rx) = 0°

4 KUKA Robot Setup Autodesk PowerMill

6. “Part workplane” definition

A part origin workplane is called “Base Data” (BASE_DATA[n]). KUKA uses a “ZYX rotary” Euler angle
convention to define the part origin workplane orientation from the robot world workplane.

The method of defining a part origin workplane is similar to defining a tool workplane. However, the
coordinates reference is the robot world workplane instead of the robot 6th axis workplane.

X
Y

7. Part on the robot, spindle on the table.

When a KUKA robot has a part on the robot and the spindle on the table, the “Tool Data” and “Base
Data" are reversed.

The "Base Data" is always the static workplane (the cutting tool in that case); the "Tool Data" is
always the dynamic one (the part).

When using the "KUKA Rapid Language" (KRL), the command $IPO_MODE=#TCP is used to set the
"Part-On-Robot" mode. In the standard mode (cutting tool hold by the robot), the command is
$IPO_MODE=#BASE.

Autodesk PowerMill KUKA Robot Setup 5

8. External Rotary Table

Usually, for a robot cell with an external rotary table, the “BASE_DATA” to use is number 17
(BASE_DATA[17]) as it is “linked to the robot” for synchronizing the rotary table and the 6 axes of the
robot.
This only happens when a "kinematic" was created during the robot integration.

9. Miscellaneous

In KUKA Rapid Language (SRC files), the default unit of speed is metres per second: m/s.

$VEL.CP = 0.0167 means robot TCP speed = 0.0167 m/s (1000 mm/min)

6 KUKA Robot Setup Autodesk PowerMill

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Autodesk PowerMill KUKA Robot Setup 7

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10 KUKA Robot Setup Autodesk PowerMill

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Autodesk PowerMill KUKA Robot Setup 11

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12 KUKA Robot Setup Autodesk PowerMill

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Autodesk PowerMill KUKA Robot Setup 13

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Autodesk PowerMill KUKA Robot Setup 15

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and watch them offline. When translating Autodesk learning
videos, we recommend downloading the videos from the iTunes
podcasts.

Can I translate Autodesk learning videos?

Yes. Even though our learning videos are licensed as No
Derivative Works (ND), we grant everyone permission to
translate the audio and subtitles into other languages. In fact, if
you want to recapture the video tutorial as-is but show the user
interface in another language, you are free to do so. Be sure to
give proper attribution as indicated on the video's Creative
Commons end-plate. This special permission only applies to
translation projects. Requests for modifications outside of these
license terms can be directed to
[email protected].

How do I let others know that I have translated Autodesk learning

content into another language?
Autodesk is happy to see its learning content translated into as
many different languages as possible. If you translate our videos
or any of our learning content into other languages, let us know.
We can help promote your contributions to our growing
multilingual community. In fact, we encourage you to find
creative ways to share our learning content with your friends,
family, students, colleagues, and communities around the world.
Contact us at [email protected].

I have translated Autodesk learning videos into other languages. Can

I upload them to my own YouTube channel?
Yes, please do and let us know where to find them so that we can
help promote your contributions to our growing multilingual
Autodesk community. Contact us at
[email protected].

Can I repost or republish Autodesk learning content on my site or

blog?

20 KUKA Robot Setup Autodesk PowerMill

 Yes, you can make Autodesk learning material available on your
site or blog as long as you follow the terms of the Creative
Commons license under which the learning content is released. If
you are simply referencing the learning content as-is, then we
recommend that you link to it or embed it from where it is hosted
by Autodesk. That way the content will always be fresh. If you
have translated or remixed our learning content, then by all
means you can host it yourself. Let us know about it, and we can
help promote your contributions to our global learning
community. Contact us at [email protected].

Can I show Autodesk learning content during my conference?

Yes, as long as it's within the scope of a noncommercial event,
and as long as you comply with the terms of the Creative
Commons license outlined above. In particular, the videos must
be shown unedited with the exception of modifications for the
purpose of translation. If you wish to use Autodesk learning
content in a commercial context, contact us with a request for
permission at [email protected].

Can I use Autodesk learning content in my classroom?

Yes, as long as you comply with the terms of the Creative
Commons license under which the learning material is released.
Many teachers use Autodesk learning content to stimulate
discussions with students or to complement course materials, and
we encourage you to do so as well.

Autodesk PowerMill KUKA Robot Setup 21

 Can I re-edit and remix Autodesk video learning content?
No, but for one exception. Our Creative Commons BY-NC-ND
license clearly states that "derivative works" of any kind (edits,
cuts, remixes, mashups, and so on) are not allowed without
explicit permission from Autodesk. This is essential for preserving
the integrity of our instructors' ideas. However, we do give you
permission to modify our videos for the purpose of translating
them into other languages.

Can I re-edit and remix Autodesk downloadable 3D assets and

footage?
Yes. The Autodesk Learning Channels on YouTube provide
downloadable 3D assets, footage, and other files for you to follow
along with the video tutorials on your own time. This
downloadable material is made available under a Creative
Commons Attribution-NonCommercial-ShareAlike (CC BY-NC-SA)
license. You can download these materials and experiment with
them, but your remixes must give us credit as the original source
of the content and be shared under the identical license terms.

Can I use content from Autodesk online help to create new materials
for a specific audience?
Yes, if you want to help a specific audience learn how to optimize
the use of their Autodesk software, there is no need to start from
scratch. You can use, remix, or enrich the relevant help content
and include it in your book, instructions, examples, or workflows
you create, then Share-Alike with the community. Always be sure
to comply with the terms of the Creative Commons license under
which the learning content is released.

What are the best practices for marking content with Creative
Commons Licenses?
When reusing a CC-licensed work (by sharing the original or a
derivative based on the original), it is important to keep intact
any copyright notice associated with the work, including the
Creative Commons license being used. Make sure you abide by
the license conditions provided by the licensor, in this case
Autodesk, Inc.

22 KUKA Robot Setup Autodesk PowerMill

 Trademarks
The following are registered trademarks or trademarks of
Autodesk, Inc., and/or its subsidiaries and/or affiliates in the USA
and other countries: 123D, 3ds Max, ADSK, Alias, ArtCAM, ATC,
AutoCAD LT, AutoCAD, Autodesk, the Autodesk logo, Autodesk
123D, Autodesk Alias, Autodesk Forge, Autodesk Fusion,
Autodesk Inventor, AutoSnap, BIM 360, Buzzsaw, CADmep,
CAMduct, Civil 3D, Configurator 360, Dancing Baby (image),
DWF, DWG, DWG (design/logo), DWG Extreme, DWG
TrueConvert, DWG TrueView, DWGX, DXF, Eagle, Ember,
ESTmep, FBX, FeatureCAM, Flame, FormIt 360, Fusion 360,
Fusion Lifecycle, The Future of Making Things, Glue, Green
Building Studio, InfraWorks, Instructables, Instructables (stylized
robot design/logo), Inventor, Inventor HSM, Inventor LT, Make
Anything, Maya, Maya LT, Moldflow, MotionBuilder, Mudbox,
Navisworks, Opticore, P9, Pier 9, PowerInspect, PowerMill,
PowerShape, Publisher 360, RasterDWG, RealDWG, ReCap,
ReCap 360, Remake, Revit LT, Revit, Scaleform, Shotgun,
Showcase, Showcase 360, SketchBook, Softimage, Tinkercad,
Tinkerplay, TrustedDWG, VRED.
All other brand names, product names or trademarks belong to
their respective holders.

Disclaimer
THIS PUBLICATION AND THE INFORMATION CONTAINED HEREIN
IS MADE AVAILABLE BY AUTODESK, INC. "AS IS." AUTODESK,
INC. DISCLAIMS ALL WARRANTIES, EITHER EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO ANY IMPLIED
WARRANTIES OF MERCHANTABILITY OR FITNESS FOR A
PARTICULAR PURPOSE REGARDING THESE MATERIALS.

Except where otherwise noted, this work is

licensed under a Creative Commons Attribution-NonCommercial-
ShareAlike 3.0 Unported License. Please see the Autodesk
Creative Commons FAQ for more information.

Autodesk PowerMill KUKA Robot Setup 23