I'm using sunrise workbench for programming kuka iiwa. I'm doing a project which will write words. For now I taught it a few letters (of the alphabet) with connecting frames. Now I have two problems.
1. On the corner of each letter I made frame as base. Now I don’t know how I can change this base frame in file RoboticsAPI.data.xml.
With this I plan to connect more letters in one word. For example, i want to change the parameter of y in frame P1 for +50mm
2. I want to insert the desired word with a keypad on smartHMI modul. How do i make the program read string from keypad?