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Messages - Johannes @ Robots in Architecture

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1
Support / Re: Problem with KR C4
« on: Today at 09:29:14 AM »
But after you have reinstalled everything, you can simply activate your project thorough WorkVisual and everything should be back in place!
You will lose all projects that you saved on the controller between the time you created the project and now, but the controller shouldn't be used as a program archiv due to memory limitations anyway.
Best,
Johannes

2
Support / Re: Problem with KR C4
« on: Today at 12:34:24 AM »
That is definitely not supposed to happen. With the Cross3 error and the "online services" I would guess that the problem is somehow related with the real-time part of the KUKA. You didn't change any network settings, did you? Otherwise I would really recommend calling KUKA, see https://www.kuka.com/de-de/services/technische-hotline-und-beratung
Have your robot serial number ready!

Best,
Johannes

3
Support / Re: Problem with KR C4
« on: October 16, 2017, 09:05:20 AM »
Hello Otto,

Most likely it's sufficient if you just upload your WorkVisual project again, providing you've still got it somewhere. Or you can try activating a previous project at the controller. Projects can be accessed via the blue-ish button with a robot and a gear on the left side of the smartPad - you need an elevated user group.
That being said it's a good idea to make backups, you can either use the special KUKA backup USB stick, or just create an image of the HDD with an external program.

As your profiles says that you're based in Germany: KUKA offers a very helpful technical hotline that does not charge anything during business hours here, which is probably the fastest way to get help!

Best,
Johannes

4
Support / Re: Simulation of 4-axis robot in KUKA PRC.
« on: October 16, 2017, 07:34:38 AM »
...and I found a white-paper here: https://www.robotics.org/filesDownload.cfm?dl=KUKA_Arctic_Robot_White_Paper.pdf
It also mentions the tolerances and seals - but I think you could still argue for your thesis that a "normal" robot may be converted for that purpose!

Best,
Johannes

5
Support / Re: Simulation of 4-axis robot in KUKA PRC.
« on: October 16, 2017, 07:32:35 AM »
Hello Elena,

While palletizing robots are quite common in industry, they are less flexible than your usual 6-axis robot, so I've never used one myself. But from the spec-sheet it looks as if it would "digest" normal XYZABC / A1-A6 code, ignoring elements it does not require. So in order to simulate it, you need to turn your 4-axis palletizing robot into a "pseudo 6-axis robot" by splitting the part of the arm where you would usually have the A4 and turning A5 so that the flange is vertical.
Then just set up your robot like a usual, custom robot with the Custom Robot component. Let me know if you need an example!

That being said, it seems the arctic version does not have any special heating, so I guess (!!! - I may well be wrong) that the main difference between an "arctic robot" and a normal one is the lubrication and extra testing.
It stands to reason that you could also adapt other robots to the cold, so personally I wouldn't limit myself to a 4-axis robot.

Best,
Johannes


6
Hello Jason,

I don't have a Sunrise-capable WorkVisual installed on this PC so I cannot check it at the moment.
You mention that the AppSwitch is configured in WorkVisual, can you simply add it to one of your own IO groups?
The enabling switch is safety-relevant, so I'm not sure if it is even possible to use it outside of the safety configuration. You can go the other way round and use a device connected to the safe inputs instead of the enabling switch - but I guess that does not really help you.

I'll see if I can find out more tomorrow.
Best,
Johannes

7
Support / Re: Simulation of 4-axis robot in KUKA PRC.
« on: October 10, 2017, 07:56:53 AM »
Hello Elena,

Basically, as long as you are only using XY frames (relative to the robot's base, that is) you should get a reliable simulation. The code generation might be a bit trickier.
Now the first question is how the robot reacts when you "feed" it XYZABC frames, as it probably usually runs on XYZA. It would be great if it ignored the BC values.
The next thing we would need to look at are the axes. Are they A1-A3 plus A6, or are they referred to as A1-A4?

I haven't worked with a four-axis robot before, but I'm confident that there will be a way to get it to run with PRC.

Best,
Johannes

8
General Discussion / Re: Work Holding for Foam and Timber
« on: October 05, 2017, 10:19:19 AM »
Vacuum tables are awesome, and can be as simple as a vacuum pump and loose rubber tubing on the edge of your workpiece.
And of course double-sided tape, the one with fabric reinforcement - though that won't solve the issue with lateral movement.
Finally for foam there are needle grippers, which are pretty nice, too!

Best,
Johannes

9
Support / Re: The robot desn't work in the same way in the simulation.
« on: October 02, 2017, 07:58:29 AM »
Hello,

Your process seems to be fine. As you have mentioned, KUKA|prc is using X as the tool axis - it can be changed to Z through an undocumented setting, but is not recommended.
However, no matter how the tool axis is set, the simulation and the movement of the actual robot should always match. It can only match if the tool and base values are the same, see http://forum.robotsinarchitecture.org/index.php/topic,115.0.html
So first you enter your tool XYZABC values in the Custom Tool and check the simulation. If the tool axis if off, you have got two approaches:
You either calibrate your tool for the X-axis, or you rotate your planes.
I wouldn't recommend using different tool values (e.g. always B + 90°) in the KUKA|prc Custom Tool and the actual robot as you have to constantly remember it whenever you make changes.

Hope the clears it somehow up!
Best,

Johannes

10
General Discussion / Re: Sculpting in Wood
« on: September 30, 2017, 03:13:32 PM »
Hello,

In that case I would also either use isocurves or even just contours. The tricky thing will be to connect the layers - it probably looks better to do a tool-axis offset at the beginning and end of each layer, because otherwise the connections will be very visible.
So with foam it will be easy to program, because you can use the entire length of the tool. With teak, that will be much trickier, as you probably cannot get that deep, especially with a KR16.
Personally I would probably do the roughening with a cheap CAM software like Fusion 360 (e.g. via the component from the member version) and a few millimetres offset, and then do the structuring of the surface via Grasshopper.

Best,
Johannes

11
Support / Re: How to run an iiwa with prc?
« on: September 30, 2017, 03:07:14 PM »
Hello Rafael,

I should have worked through my eMails in the other direction ;)

Best,
Johannes

12
Support / Re: How to run an iiwa with prc?
« on: September 29, 2017, 07:23:42 PM »
Hello Rafael,

I'm sorry for the late reply, I just came back from my holiday!
To read the XML files you need a custom Java library that we provide to members.
I'll send it to you once I'm back in the office.

Best,
Johannes

13
Support / Re: The robot desn't work in the same way in the simulation.
« on: September 29, 2017, 06:41:47 PM »
Just to be on the safe side, are you 100% sure that the XYZABC values match between simulation and the robot? I.e. you are not using a template tool, but a Custom Tool with (more or less) exactly the same XYZABC values as you calibrated at the robot?

Best,
Johannes

14
Support / Re: The robot desn't work in the same way in the simulation.
« on: September 27, 2017, 07:15:25 AM »
Hello,

It took me a bit to unlock your post, as I'm currently out of the office - sorry for that!
You've got three planes for the CIRC movement - can you quickly test if you get the same XYZABC values in the SRC file for both LIN and CIRC movements? And if so, check if the robot moves differently (except the interpolation being linear/circular, of course)?

Please let me know how it works out!
Best,
Johannes

15
General Discussion / Re: Best finish on foam
« on: September 14, 2017, 06:00:49 AM »
Hello,

First the disclaimer that I'm not really a milling expert. But basically a larger tool will rotate "faster" on the outside, so you may be able to get similar finishes by adjusting the rotation speed of the tool. Also the number of teeth makes quite a difference when milling foam, where you generally want to prevent it from becoming so hot that the foam melts, i.e. by using less teeth.

Best,
Johannes

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