This section contains general information on the motion command structure of Parametric Robot Control. Specific topics are addressed in separate pages:

Installation

Certificates

Licensing

Server

Grasshopper

Grasshopper 2

Blender - Geometry Nodes

In order to define robot programs, PRC utilizes the following categories of components:

Motion Groups

Motion groups serve to structure motion commands and to reduce overhead (e.g. when the tool geometry is individually specified for each motion. A motion group defines the interpolation, tool, and base for all motions contained within. PRC supports the following motion groups:

• Point-to-Point (PTP) Motion Group: This motion group may contain either Axis motion commands or Cartesian PTP commands.
• Continuous Path (CP) Motion Group: This motion group may contain LINear and CIRcular motion commands
• SPLINE Motion Group: This motion group may contain PTP and LINear motion commands, which are interpolated as a smooth spline through the waypoints. Note that the SPLINE group is not yet supported by the KSS KRL code generator. Independently of this group type, the KSS KRL driver can emit single-point spline commands (SPTP/SLIN/SCIRC) for regular PTP and CP motion groups via the UseSplineMotions setting.

Motions

Motions define a robot motion. In general, a motion consists of a target (Cartesian or Joint) alongside values for the speed, interpolation, and acceleration. By default, CP speeds are given in m/sec, while PTP/Axis speeds are given as a factor of the maximum speed between 0.0 and 1.0 (e.g. 0.15 = 15%). These motion types are currently implemented:

• LINear Motion: The target position is defined by a Cartesian Target.
• PTP Motion: The target position is defined by a Cartesian Target and a posture.