If you work with KUKA robots in iiQWorks.Sim, this Python add on adds some functions that can make your life easier:
- Import Tools/Bases
→Import of $config.dat file properties (Base/Basename, Tool/Toolname, LoadData) - Save/Load Signal Connections
→Save and load signal connections of a robot (e.g. if you have to manually exchange a robot) - Mirror Position Statements
→Mirror selected position statements (for mirrored parts etc.) - Change Tool/Base
→Adapt Tool or Base of selected statements without changing robot pose in those statements - Adapt Statements
→Adapt position statements with a relative offset or absolute values for selectable parameters of the statements (Coordinates, external axis values, …) - Show/Hide Component via Signal
→Create an input in a selected component, to switch its visibilty with a signal. - AdaptStatements
→ select multiple statements and adapt various parmeters of those statements, e.g. ablolute value for an external axis or a relative offset for a coordinate - Change Tool/Base (PROGRAM / DS-SIM Public Tools / Helpers)
→ Adapt Tool or Base of all selected statements without changing robot pose in those statements - Visibility Assistant (MODELING / DS-SIM Public Tools / Wizards)
→ marking of invisible features with a suffix (suffix can also be deleted if necessary)
→ all marked features then can be set visible or invisible with one click
→ force all available features of a component to be invisible or visible
Add on function can be found in PROGRAM or MODELING tab depending on the use case
To install the add on download the zip file below, then unzip the package and copy the folder “kuka_sim_extensions” to the MyCommands folder of your simulation software. The MyCommands folder should be located in your personal documents folder.
Example:
C:\Users%username%\OneDrive - KUKA AG\Documents\KUKA\iiQWorks.Sim 1.1\My Commands\Python 2
(be aware that the path might be slightly different on your system, due to language settings!)