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Messages - Johannes @ Robots in Architecture

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1
General Discussion / Re: KUKA Robot Choices
« on: June 19, 2018, 06:22:48 PM »
Hello,

Wouldn't a KR150L150-2 simply be a regular KR150-2? I found some references online to used KR150L150 robots, but nothing from KUKA.
If it's a KR150-2, then use the component with the same name.
An easy way to check is to move the robot into it's 90 degree position with all axes at 0, except A2 at -90 and A3 at 90.
Then select tool 0 and base 0 and compare the Cartesian position to KUKA|prc.

Best,
Johannes

2
Support / Re: Custom Turntable for 3+2 style milling
« on: June 18, 2018, 10:11:53 AM »
Hello,

So you want to build your own turntable, right?
In that case I would program everything in KUKA|prc as if there was a turntable attached (show external axis values by right-clicking the component).
I haven't tested that before, but I think you can set up a virtual turntable, in which case you are done and can proceed to the next step. Because then your base (calibrated as an Offset Base) is rotating with the turntable.
If not, you need to geometrically rotate your planes around the turntable axis. I.e. you use the normal setup from E1-E4 to simulate it, but for the code generation you take a second version that rotates the planes accordingly.
I've attached a quick example that you could e.g. turn into a cluster that can be switched from generating geometry for an actual or a "fake" turntable.

If there isn't a turntable attached, the KUKA will simply ignore the E1-E4 parts, so you can leave them in.

Before every change of the turntable axis, I would put in a Custom KRL like this

;Turn turntable to xx degree
HALT

So if you are manually turning the table, just look at the comment, or if you are using a motor (i.e. not a genuine KUKA motor) then you could set a value to an analog output or a series of digital outputs instead of the comment.
Once you have a feeling for the timing, you could replace HALT with WAIT SEC xx to give the motor sufficient time to reposition. After HALT you need to press the start button to resume.

Best,
Johannes

3
General Discussion / Re: Real-time X tool axis movement ?
« on: June 11, 2018, 10:19:48 AM »
Hello,

Actually if I read it correctly it means that you can set it in a regular robot program, but not in the sps.sub, where you can only read it.
The sps.sub is in R1/System - you may only see it when you are in the Expert user group.
And the sps.sub is normal KRL, so if you want the enable/disable certain features, you can just use IF... THEN ...ENDIF with some variable. Either define a global variable for that, or just use an digital output that is not connected to an actual physical output.

Best,
Johannes

4
General Discussion / Re: RSI KUKA Robot Sensor Interface
« on: June 11, 2018, 10:15:12 AM »
Hello,

Are you sure that the "Function Generator" is an included feature? If you take a look at the manual (e.g. here https://kupdf.com/download/techpack-function-manual_597108b8dc0d609266a88e7d_pdf) it looks like a tech package like RSI.
But keep me updated, I'm curious about that as well!

Best,
Johannes

5
Hello,

In the Settings window under Advanced/Code you can tick the box "Reduce Fiilesize" which does exactly that.
However, I haven't ever been able to conclusively verify that it makes a difference - of course the files get smaller, but there is no real way to check its actual memory footprint once it's on the robot (that I know of).
Chances are good that every E6POS takes the same amount of memory, to be honest.

Best,
Johannes

6
General Discussion / Re: RSI KUKA Robot Sensor Interface
« on: June 08, 2018, 12:44:06 PM »
Hello,

I didn't see the reference to mxAutomation, it's a bit different from RSI. You can use RSI not only to control the robot in real-time, but it's actually primarily used to offset the tool in realtime, just like you would need it.

How "hectic" is the movement of the plasma torch height control? Because if it does not have to react superfast, my idea would be as follows...

So let's say a line looks like that...
LIN {E6POS: X 86.613, Y 516.346, Z -73.467, A 89.987, B 67.155, C 51.078, E1 0, E2 0, E3 0, E4 0} C_DIS
Then you search in Notepad(++) for ", A" and replace it with "+ PLASMAOFFSET , A " so that the line would look like that...
LIN {E6POS: X 86.613, Y 516.346, Z -73.467 + PLASMAOFFSET, A 89.987, B 67.155, C 51.078, E1 0, E2 0, E3 0, E4 0} C_DIS

You will need to set the PLASMAOFFSET variable in the sps.sub cyclically from your analogue value, probably with some scaling and safety measures so that it does not move too much.

The robot will read the variable in the advance run, so you will have some delay, and you will need to create toolpaths with very fine spacing to reduce latency.

I haven't tried that out, so it's entirely possible that it won't work. But you might give it a try.

However, my gut feeling would be to simply do that with an external microcontroller. Get an Arduino for 10EUR, a stepper driver for 15EUR and a linear stepper for 30EUR from china, and something so that the analog value coming from the plasma torch does not fry the Arduino. And then plenty of time to set it up ;)

Best,
Johannes

7
Support / Re: MXA questions
« on: June 07, 2018, 12:32:14 PM »
Hello,

Here you go, see the screenshots below!
I couldn't find the KLI section on my virtual robot, but I think that I remember it from the last time I troubleshooted it on an actual robot. Might also be related to the KSS version.
Also, make sure to upgrade PRC to the latest release, and don't use the "realtime" mode as it never really ran nicely, which is why it is grayed out in the current releases!

Best,
Johannes

8
Hello,

If you create a toolpath at the robot, the logic is in the *.src file, and variables such as the positions themselves in the *.dat file. We put it all into a single *.src file, so that's fine!

The red cross on the files mean that there is an error in the file. That you cannot open the error list is strange and might point to a deeper issue. Did you maybe accidentally delete a file, or did the robot have the issue from the time you got it? I cannot think of a  proper reason right away, it might make sense to contact the KUKA hotline regarding that.
Or if you've got a backup from before, roll back to it!

By the way, as you've got a KRC1 controller, you might need to tick the "enhanced compatibility with older KUKA controllers" box in the Code settings. Otherwise - depending on the version - you would also get a red cross and the error list would tell you that it doesn't understand one line. But that's not related to your current issue.

Best,
Johannes

9
Support / Re: MXA questions
« on: June 06, 2018, 05:49:21 PM »
Hello,

Usually timeouts are due to performance hickups on the Windows side, or a flaky network connection.
However 3000ms are extremely high. Where are you based? I might be able to provide you with an early version that works a bit differently (and hopefully better) than before!
For general troubleshooting you can take a look at the Diagnostic Monitor and look at the activity on the KLI network port as well as at the ProconOS - so if there are connection outages, you should see that easily. You could also play with the KUKA testprogram a bit to see if the problem also happens there.

Best,
Johannes

10
Support / Re: Trimming
« on: June 06, 2018, 05:43:14 PM »
Hello Max,

The problem is that you want to offset the curve to outside the surface, so the normal "Offset on Surface" does not work.
You could e.g. extend the surface in Rhino.
Or you take every plane, align it with the tangent (~direction) of the curve at that position, get it's coordinate axes and move it to the outside.
It's not perfect, but I've attached that approach below.

Best,
Johannes

11
Support / Re: Trimming
« on: June 05, 2018, 05:58:47 PM »
Hello Maximilian,

I guess it's connected to the meshing, but as you are using a nice surface, here's an easier way!

Best,
Johannes

12
Hello,

Did you calibrate your base as an Offset Base?
Otherwise it won't rotate!
Thanks for laying out the workflow so clearly, I'm sure that's also helpful to other users!

Best,
Johannes

13
Hello Jorge,

If is grey it means that the submit interpreter is not running. Take a look in your R1/System directory and see if there are any errors displayed for the sps.sub. Try to fix the error, by e.g. commenting out lines that refer to hardware that is no longer connected.
That issue might then also be connected with you not being able to teach positions.

Best,
Johannes

14
General Discussion / Re: Training
« on: May 25, 2018, 06:41:02 PM »
Hello,

The main workshops happen in parallel, while the pre-workshops are held the day before. So you can pick one pre-workshop and one regular workshop.
Can you forward me the eMail that you sent to the organizers? Then I can double-check if there is a problem with the address etc. My eMail is johannes@robotsinarchitecture.org
My lab is in Linz, Austria!

Best,
Johannes

15
General Discussion / Re: Training
« on: May 14, 2018, 07:35:20 AM »
Hello,

My suggestion would to to look for workshops, e.g. there will be three days of workshops for the upcoming Rob|Arch conference (www.robarch2018.org) in Zurich, covering these topics and more.
Also there are often summerschools and similar programs, like the AA Visiting Schools, that involve robots. These events are frequently posted on e.g. the Rhino blog.
Personally, I do brief introductions for companies at my lab from time to time, but for most universities you would need to be at least enrolled as a guest listener.

Best,
Johannes

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