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Messages - Johannes @ Robots in Architecture

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31
Support / Re: Plasma cutting...
« on: March 18, 2018, 03:16:07 PM »
We will be teaching a workshop in China with a plasma cutter in May, then I'll know more.
That being said it shouldn't be hard to mount a hand-tool on the robot - that's what we'll be doing!

Best,
Johannes

32
Support / Re: More evolved "Play/Pause" component please
« on: March 16, 2018, 02:59:49 PM »
It kind of looks the same because we did not want to make any seriously "breaking" changes, but internally large parts are completely new and there are many changes in the usability details.
Most importantly it's nearly stand-alone, i.e. we can have the same logic working within not only Grasshopper, but also Dynamo, VVVV, Unity, MS Azure - just as examples. Only Dynamo is fully implemented so far, though.
And while it's an aesthetic detail, the robots look nicer now, with colors etc. See the attached KR1000 Titan.

Best,
Johannes

33
Support / Re: KRC 2 external axis causing program errors?
« on: March 14, 2018, 09:43:38 PM »
Hello,

Let's go through that point by point:

If you say that you built your own turntable, you used a KUKA motor and built your mechanics "around it", right? I.e. the control is KUKA standard?
As the next step you would calibrate your turntable, as a result you will get the XYZABC values that signify how the turntable is located in relation to the robot's base. So if X is 1500, the turntable would be 1.5m in front of the robot. Enter those values in the dropdown menu that you get from right-clicking the turntable component in PRC.
Finally you would calibrate an Offset system. That is the same as a Base system, but its zero-point is the origin of your turntable. So the values will be rather small, in the hundreds of millimeters probably. Enter the XYZABC values as a base in KUKA|prc.

Before you proceed with KUKA|prc, activate a calibrated tool and your offset base. Go into e.g. base movement mode and move the E1. The tip of the tool should stay at exactly the same position in relation to the turntable, it rotates with it. If it wobbles around, your calibration isn't very accurate. Or maybe the gear ratio is incorrect.

The dynamic value by vector works OK for some simple cases, I usually now write my own small logic to set the external axis values. You can directly set E1-E4 by right-clicking a movement component and clicking the appropriate option.

Hope that helps!
Best,
Johannes

34
Support / Re: Suggestion for the robot list
« on: March 12, 2018, 10:23:40 AM »
Hello,

I'm not sure if more GUIs are the answer, but the problem with the current PRC version is that the robot names all start with "KUKA", which makes it a pain to get them from the search function. In the new, internal, test version that has changed.
It would be nice to have more customization for Grasshopper components, but GUI changes are very low-level (i.e. you can do many things, but need to do them manually, which would make a menu with sliding robot images a pain). In Dynamo you could have a menu for choosing the robot right on top of the component using WPF.
Regarding the axis limits, you can plug the existing KR6-arc into a Custom Robot as a reference and then just change the axis limits, and you also have the same option from the Robot Cell component.
I guess you could save the combination as a User Object, so that you don't always have to re-set your limits?

Best,
Johannes

35
Support / Re: More evolved "Play/Pause" component please
« on: March 12, 2018, 10:15:54 AM »
Hello,

That's a good idea, we could implement it into the main GUI as well.
It would have been a problem with the current version, but with the next I don't see any issues there.

Thanks for the input!
Johannes

36
Tutorials / Re: Video Tutorial - Pick & Place Part 1
« on: March 07, 2018, 05:00:06 PM »
Hello,

I'm not the creator of the tutorial, but it does seem more like a technical issue.
When you say that your simulation does not "generate", do you mean that it does not create the *.src file, or that there is no robot?
Do you get any error message? These are the small message balloons in the upper corner of the component, you can left-click them.

Best,
Johannes

37
Support / Rhino 6 Advisory
« on: March 05, 2018, 01:24:17 PM »
Recently, Rhino 6 has been released. The past weeks we've been working with it, and have not encountered any KUKA|prc-specific issues so far. There have been a few crashes, but they seem unrelated to KUKA|prc. However, please do let us know if you run into any issues, ideally in a reproducible way.

However, the display performance of Rhino 6 when displaying Grasshopper-planes is significantly (!) slower than in Rhino 5. Our brief tests showed that Rhino 5 is up to 80 times faster than Rhino 6.
As the general display performance of Rhino 6 is better than before, this seems to be a bug. We have reported it to McNeel, where it is logged at https://mcneel.myjetbrains.com/youtrack/oauth?state=%2Fyoutrack%2Fissue%2FRH-44499
It is recommended to disable plane preview whenever possible to ensure that the viewport stays responsive.
Our testing was limited to NVidia cards, maybe someone can compare the performance on AMD graphics cards as well. The easiest way to test is to use "Populate 2D" to create 5000 points, then place the Planes through "World XY" and run the textmaxspeed command in Rhino. In Rhino 6, the viewport refreshes with less than 0.5fps on a current PC.

As long as Grasshopper in Rhino 5 and Rhino 6 are mostly compatible, we are planning to support both. Ideally, we will offer parallel Rhino 5, Rhino 6, and Dynamo builds with the same functionality. At some point after 2018 Rhino 5 support might cease, however your licenses will still be valid, and you will still be able to access older versions through the member section. Rhino 6 support will be a free update for members, as are all new builds and versions.

Thank you!
Johannes

38
Support / Re: Orient component not getting parts flat for cutting?
« on: March 05, 2018, 12:26:59 PM »
Hello Charles,

That already looks really good!
Ideally for retraction you have every pass as a separate branch and can then add the retract and approach motion at the end and at the beginning. Also, the Tool-Axis Offset component of KUKA|prc (in Toolpath Utilities tab) does that.
For the simulation, you can drag to make the slider longer, and if you need more resolution open the slider properties and use more digits, e.g. 5 instead of the default 3.
In the Play component you can also manually set the time.

Best,
Johannes

39
Support / Re: Orient component not getting parts flat for cutting?
« on: March 04, 2018, 07:16:51 PM »
Haha, excellent!

40
Support / Re: How to run an iiwa with prc?
« on: March 01, 2018, 04:55:08 PM »
Hello,

*.src files are KRL, which is not compatible with KUKA|prc. KUKA|prc generates XML files, for which we then provide a custom library to read them at the robot.
This feature is only available in the member version, though!

Best,
Johannes

41
Support / Re: Kuka KRC4 IO mapping for HMI
« on: February 27, 2018, 11:15:54 AM »
Then you know what you are doing - give it a try!

42
Support / Re: Error 2138 "name invalid for this type of constant"
« on: February 26, 2018, 09:20:42 PM »
Hello Dante,

Try ticking the "Improved Compatibility with older KRC Controllers" box in the Code settings!
That should fix the issue!

Best,
Johannes

43
General Discussion / Re: Fusion 360 NC import
« on: February 26, 2018, 07:00:00 PM »
Hello,

I've made an update in the member section!

Best,
Johannes

44
General Discussion / Re: Roughing ?
« on: February 26, 2018, 07:46:49 AM »
Hello,

I replied to your other post!

Best,
Johannes

45
General Discussion / Re: Fusion 360 NC import
« on: February 26, 2018, 07:46:15 AM »
Hello,

Actually the component should replace tiny circular movements with linear movements, and regarding the reduce function make sure that you are entering a value for both the angle and the distance.
Please send me your current XML file so I can check why the tiny circular movements are not filtered out!

Best,
Johannes

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