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Messages - Johannes @ Robots in Architecture

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1
General Discussion / Re: Starting my Own Robot Sculping company
« on: February 09, 2018, 11:08:02 AM »
Hello,

It seems to be in very good shape, and 10-19k h is like 2 years of 24/7 work, which a robot should take easily. However according to the description you might not get exactly that robot.
They seem to have many robots in stock, so maybe ask them if they've got any with KRC2 ed 05. But the 7k USD is a good price for a KRC2 if it really ends up being in the condition shown in the photos and video.

Best,
Johannes

2
General Discussion / Re: Starting my Own Robot Sculping company
« on: February 07, 2018, 05:04:47 PM »
Hello,

That sounds great! Regarding your questions:
  • The older the robot, the more problems you might have with complex toolpaths, as the robot may not have enough memory. Unfortunately there are no "hard numbers", but I usually recommend a robot with KRC2 ed05 (from 2005 onwards) controller. They should not be much more expensive!
  • For the space, I would recommend downloading the free version of KUKA|prc and simulating what you want to do. In general, a robot like the one you were thinking of has got a reach of 2.5-3 meters, so something like 4x4m would be the minimum in my opinion, though more wouldn't hurt. But it very much depends on what size of material you want to work with.
  • I'm not aware of any such website, and robot training is quite expensive in industry. Ideally you find someone locally that can help you out and then ask in forums like this and others for specific problems. There are also many KUKA manuals around, a user posted e.g. this one: http://forum.robotsinarchitecture.org/index.php/topic,103.msg195.html#msg195
  • Turntables are a pain (and expensive) to retrofit, rather get one with your robot if you need one!
  • Spindles: There are many manufacturers around, HSD seems popular, others are e.g. ELTE and HiTeco.
  • Tools: Try to find someone who knows the best sources for getting good milling bits. Often that business is not very online-focused. Beyond that I find toolchangers (e.g. by Schunk/ATI in the US) very useful, and a good table for clamping. Also consider safety, e.g. fences, thick acrylic glass etc.

Hope that helps!
Best,
Johannes

3
General Discussion / Re: Aligning tool end to normal
« on: February 07, 2018, 11:49:24 AM »
Hello,

There wasn't any file attached. Also, your post had a link to what seems like a gambling page, which I have deleted.
Consider checking your PC for malware.

Best,
Johannes

4
Support / Re: Kuka KRC4 IO mapping for HMI
« on: February 05, 2018, 10:16:04 AM »
Hello,

Basically the Expert Programming guide and KRL Reference are very useful, you can find them easily via Google.
I didn't know that guide before, looks useful and contains the info you are looking for: http://www.wtech.com.tw/public/download/manual/kuka/krc4/KUKA%20KRL-Syntax%208.x.pdf

You declare an interrupt like that...
Code: [Select]
INTERRUPT DECL 11 WHEN $IN[SENSORIN]==TRUE DO MEASURECALC(TOCALIBRATE, REFTOOL)
INTERRUPT ON 11

Goto works like that:
Code: [Select]
GOTO Marker

Marker:

And waitfor:
Code: [Select]
WAIT FOR $IN[5]
Best,
Johannes

5
Support / Re: Kuka KRC4 IO mapping for HMI
« on: February 05, 2018, 09:49:19 AM »
Hello,

If it's only a single program, just define a digital input as a "wait for" at the beginning, and then as an interrupt that resets the program (e.g. via a goto).
Not sure what you are referring to as intermediate converters and SRC skeleton files, but if you simply need to send a digital signal from your HMI there are many ways, from sending data via Ethernet to a Raspberry Pi, to more professional IO couplers like from NI (http://www.ni.com/en-us/shop/select/digital-io-device?modelId=124945) and countless industrial solutions.
I'm not an expert on Profinet, so I cannot really help there.
My suggestion would be to start with a physical button connected directly to the IOs and then "scale it up" once it's needed.

Best,
Johannes

6
Support / Re: Kuka KRC4 IO mapping help?
« on: February 05, 2018, 07:19:57 AM »
Hello,

The quick and easy way to do that is to place the logic in the sps.sub, where the IOs get cyclically queried. Still I'm not sure if that is the best idea and if you will be able to do everything you want to do from there.
Also your panel does not seem to have any special IOs, just regular serial and Ethernet ports. So to communicate with the panel, you would probably also need the Ethernet.KRL package, as KRC4 does not have serial ports anymore.
In my opinion, a cleaner solution may be to go with KUKA UserTech to make your own smartPad controls, and there is also an official link between Copa-Data ZENON HMI and KUKA robots (https://www.copadata.com/en/).
ZENON has got a some predefined controls, but more importantly allows you to use WPF controls. We once actually integrated our entire KUKA|prc environment to ZENON, with 3D visualization etc.
None of these options are exactly easy or free, though.

Best,
Johannes

7
Support / Re: KUKA|prc Frame output parameter to?
« on: February 04, 2018, 12:00:20 PM »
Hello,

At the moment you can read the bases from a $config.dat file (e.g. directly off the robot via Ethernet), so technically it would not be a problem to store XYZABC for every base number.
However I see a bit of a usability problem, because when you simply want to change your base number, the entered XYZABC values would change along. At least the way I work that would be annoying 70% of the time.
I'll think about it for a while - if anyone has got any suggestions they would be very welcome!

Best,
Johannes

8
Support / Re: KUKA|prc Frame output parameter to?
« on: February 03, 2018, 11:10:04 AM »
Hello,

The Frame component kind of "slipped" into the current version, but will be used more in the next major release.
At the moment it's just a way to set your tool's XYZABC values from code, in combination with the Custom Tool - GH component, which you can right-click to switch from Tool Number / Plane input to Frame.

Best,
Johannes

9
Support / Re: Problem uploading simulation to Kuka
« on: February 03, 2018, 11:03:37 AM »
Hello Jorge,

Great to hear that you got robots! Can you provide some more details on the controller - is it a KRC2 or KRC4? If the robots are new, it will most likely be KRC4.
Basically the approach to get a *.src program to the robot is that you need to copy it to the robot drive (e.g. R1/Program) on the controller - not into D: or C:.
The more common approaches are to use a USB stick or Ethernet file shares. Note that the USB port on the back of the smartPAD can be picky, rather use the ones on the controller at first. Also you need to be in the user group "Expert" to access the USB stick. The default user group password consists of four letters and is easy to guess, starting with a k.
"Behind" the user interface is a regular Windows which you can access through the Service/Minimize HMI menu (again: Expert user). You can then e.g. create a folder called "Transport" on the D: drive and share it via Ethernet to PCs in the same network.
To run a program, you still need to copy it from the user interface (NOT the Windows Explorer) to the robot drive.

It is not possible to run programs directly off the USB stick at all. Also, to run a program you need to "Select" and not "Open" it.
Final issue: Every program has got a program name on top. You will run into issues if there are programs with different file names but identical program names.

Your axis limit issue is easy to solve. As you correctly stated in your post, you need to set up the tool on the robot as well. The usual workflow is to calibrate a tool at the robot, and then enter the resulting tool number and XYZABC values into the simulation. Also refer to that sticky post: http://forum.robotsinarchitecture.org/index.php/topic,115.0.html

One last remark: The KUKA trainings are not really crucial for many things that we're doing, however it would be good to have at least one person who knows the basics, in particular relating to safety.
I don't mind helping you along at all, but if you do not know the difference between e.g. T1 and T2/AUT then you could get yourself or someone else seriously hurt.

Let's say you run a program in T1 mode with 50% PTP speed and it's nice and slow. Then you play around the key and switch into T2/AUT and all of a sudden the robot will move 10x as fast, with the same program.
Just as an example...

Best,
Johannes

10
General Discussion / Re: fusion 360 multi axis 'flow'
« on: January 27, 2018, 04:50:14 PM »
Hello Matt,

I haven't looked at this yet, can you send me an example file via eMail?
As our Fusion integration works through a postprocessor I assumed that new cycles should work without issues, but maybe they introduced a new movement type or did some changes on their side...

Best,
Johannes

11
Support / Re: converting E6POS (with Tool) to gh_plane
« on: January 24, 2018, 04:17:30 PM »
Hello,

In the member version of PRC there is a component to import KRL code. It's rather simple and ideally used for code that was already generated in PRC, but you should be able to e.g. read in positions from *.dat files that you taught before.
Let me know if it works!

Best,
Johannes

12
Hello,

We tried to make a replacement for each of those examples, please take a look at the Tutorials board at http://forum.robotsinarchitecture.org/index.php/board,2.0.html
Let me know if you are missing any specific information!

Best,
Johannes

13
Support / Re: KRC2 Cross3 start up program unable to start
« on: January 21, 2018, 09:52:06 PM »
Hmm... Never had that happen, it looks rather serious, I would probably call the KUKA hotline for advice, maybe there is an easy fix. If you or one of your colleagues/students speaks German, consider calling the German hotline, it's free during German office hours: https://www.kuka.com/en-at/services/technical-hotline-consulting
If they don't have any advice beyond getting a service technician, I would make an image of your HDD (just in case) and if available load an older image or just re-install the KUKA software.

Best,
Johannes

14
Support / Re: KUKAprc for Dynamo
« on: January 09, 2018, 07:56:49 AM »
Hello,

It is quite a lot slower on Dynamo because the Dynamo 3D engine is rather basic (WPF / Helix). That being said it did not feel super slow to me, unless you import a huge NC file. Can you give me some performance numbers (e.g. how long a solution takes) for me to compare with?

However I have been working on bringing PRC for Grasshopper and Dynamo on a common codebase over the holidays, so that they use exactly the same libraries and thus implement new features and robots in parallel- until now it was basically a branch. It also improved the speed and added several new features, and it will make support for new platforms like Grasshopper 2 a matter of hours.
I don't know how quickly it will be possible to push out the new release for both GH and Dynamo - probably there will be an early beta in 2-3 weeks.
We also saw some people having issues with Dynamo complaining about missing libraries. We haven't quite figured out the exact reason why it works on most Win7/8/10 PCs but not all of them, but the new versions seems to have reduced - and ideally solved, but we'll only know this after more external feedback - these issues.

Best,
Johannes

15
General Discussion / Re: Excess of poly
« on: January 04, 2018, 05:17:00 PM »
Sure! Preferably via eMail, though!

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