Show Posts

This section allows you to view all posts made by this member. Note that you can only see posts made in areas you currently have access to.


Messages - Johannes @ Robots in Architecture

Pages: 1 ... 31 32 [33] 34 35 ... 37
481
Support / Re: Milling problem
« on: October 30, 2014, 07:37:59 PM »
Hello Mikail,

Could you please clarify if you are using KUKA|prc to postprocess SprutCAM-GCode, or are you using SprutCAM to generate KRL code?
If SprutCAM is generating the KRL code, you would have to ask the SprutCAM team for support. What I can offer you is that you send me the SprutCAM file and I will try to convert it into KRL using our workflow via a custom postprocessor and KUKA|prc.

I would need...
...your SprutCAM file
...the XYZABC values and number of your tool
...the XYZABC values and number of your base

Best,
Johannes @ Robots in Architecture

482
General Discussion / Re: Brick laying
« on: October 19, 2014, 03:58:27 PM »
Excellent, glad to hear that it's working!

Best,
Johannes @ Robots in Architecture

483
General Discussion / Re: Brick laying
« on: October 18, 2014, 08:41:18 AM »
Hello Freddy,

In that case I'm 99.9% sure that the problem is with the tool and/or base calibration.
Do not just read the tool position of the robot and use its XYZABC values for the base, but do it the regular way via Calibrate/Base/3 Points, where you define the base with one point in the origin, one point in X-direction, and one point on the resulting XY plane.
Another thing to take care is the tool orientation, in your case it will be something like X = 350 (the length of the gripper), Y=0, Z=0, A=0, B=-90 (as it is oriented normal to the flange), C=0.
Again I have to emphasis that the XYZABC values have to be the same on the robot and in the simulation in order to get a meaningful simulation out of it. An even more important the base and tool numbers!

Best,
Johannes @ Robots in Architecture

484
General Discussion / Re: Brick laying
« on: October 17, 2014, 12:51:49 PM »
Hello,

No special postprocessor is needed, as KUKA didn't change the basic functionality much. You will most likely have to enable the "KRC2 compatibility" option in the output settings. Depending how old the KRC1 is it may require more changes to the header, please get back to us in the forum if it worked.
Ah, and advanced functions such as Spline movements won't work - I'd stay with LINear and PTP movements.

Best,
Johannes @ Robots in Architecture

485
Support / Re: wrong direction of the tool
« on: October 16, 2014, 05:15:25 PM »
Hmmm... Interesting! If you come across anything that might be a bug with KUKA|prc, please let me know, e.g. via johannes@robotsinarchitecture.org
Best,
Johannes

486
General Discussion / Re: 6 axis +1 external synchronuos
« on: October 15, 2014, 11:33:37 PM »
Hello,

You have to set the right base number and base XYZABC values in the KUKA|prc settings. As you are using a Custom Tool, go into the Custom Tool settings and set the right tool number and tool XYZABC values.
Finally, you can try to enable "Smooth Simulation" in the KUKA|prc Settings/Simulation Settings to see interpolated positions as well.
Now, if the simulation looks fine it *should* also work on the real robot. From your screenshot it seems that you've still got the default tool from the turntable example active.

Finally, what you can try to troubleshoot: Write down the XYZABC values of the first LIN position, activate the right tool and base, and then try to manually move the robot to that position. That should give you an idea what's wrong.

Best,
Johannes @ Robots in Architecture

487
General Discussion / Re: 6 axis +1 external synchronuos
« on: October 15, 2014, 09:30:54 AM »
That's actually good news as it means that the syntax is working. Now you have to troubleshoot to find the problem. What could be wrong...
...do you use the same tool/base number and XYZABC values on the robot and simulation?
...is the root point of the rotary axes set right? Right-click the component and set it like the calibrated turntable.
...through your editing you have set the linear axis E1 to 0.0, can the robot reach the rotary axis from there?

Then it should work. Please mind that I'll be out of the office the next days, so support may be slower!
Best,
Johannes @ Robots in Architecture

488
General Discussion / Re: 6 axis +1 external synchronuos
« on: October 15, 2014, 08:21:53 AM »
Hello,

That's most likely the problem. For the moment, the easiest way is probably just to do a search/replace on the KRL file.
E.g. search for "E1" and replace all with "E2", then search for "E2 0.0, E3 0.0" and replace with "E1 0.0, E3 0.0". I may be mistaken, but if I remember correctly the KUKA doesn't worry about the order of variables, i.e. if its XYZ or XZY.
On the long term, you can reconfigure the external axis from E1 to E2, or wait for a future KUKA|prc release for which we are planning to support more than one external axis.

Best,
Johannes @ Robots in Architecture

489
General Discussion / Re: How to import ,...
« on: October 15, 2014, 08:14:10 AM »
Hello,

Well, the tool is as accurate as you draw it - you can of course e.g. constructively find the accurate TCP, or even work backwards from the XYZABC values you got when you calibrated the tool on the robot.
On the other hand, a simulation is never going to be 100% accurate anyway, as also the physical robot is probably not 100% identical to the public 3D model, with some additional, internal calibration data ensuring accuracy on a "real" robot..

In the image, the mesh geometry that you have at the global origin is basically the source geometry for the tool (you can hide it in Rhino). It is then moved to the right position according to the robot's axis values and the tool's XYZABC values.

Hiding the robot works as with any Grasshopper component, i.e. right-click and disable preview.

Best,
Johannes @ Robots in Architecture

490
General Discussion / Re: How to import ,...
« on: October 14, 2014, 05:35:35 PM »
Hello,

With global origin I'm referring to the actual global origin of Rhino, not that of an arbitrary construction plane.
Just move the gripper manually to the global origin of Rhino, as I did in the modified file. When looking at your screenshot, the gripper seems more or less in the right position. I think I set the TCP of the gripper to the back of its clamps, if you want it to be at the front of the clamps, just move the gripper geometry and adjust the Z-value accordingly (i.e. measure the distance between zero point and the flange-mounting point of the gripper).

Best,
Johannes @ Robots in Architecture

491
General Discussion / Re: How to import ,...
« on: October 14, 2014, 04:45:32 PM »
KUKA|prc assumes the TCP of a custom tool geometry to be at the global origin of Rhino. On the robot you have to calibrate the tool to get the right XYZ and ABC values. The KUKA manual guides you through all the calibration steps (e.g. first get the right XYZ offset from the flange via "XYZ-4 Point" and then the ABC values via "ABC World").

Best,
Johannes @ Robots in Architecture

492
General Discussion / Re: How to import ,...
« on: October 14, 2014, 03:31:28 PM »
Hello,

You rather overcompensated by putting in rather arbitrary values in the tool settings and the moving the tool in space. I've fixed the file, take a look at the attachments.
Basically, it's important to remember that there are several ways how to calibrate a tool, especially in regards which tool axis is used (by default X).
So for now I've put the Tool Center Point (TCP) of the gripper to the global origin with X being the tool axis. As the tool is normal to the flange, B=-90, and A and C = 0.
The TCP is 255mm away from the flange, and if you take a look at the KUKA manual or the custom tool illustration, the axis normal to the flange is Z. Therefore, Z=255 and X and Y = 0.
One more important thing: You set the tool nr 0 for the tool - this is a very bad idea, as the tool 0 should be the flange (I'm personally unsure if you can even change it easily) with 0/0/0/0/0/0 for XYZABC. Set the same number and same values as you got when you calibrated the gripper at the robot. If you really got X=-1390, Y=430, and Z=-2180 for the tool, I'm quite sure that there is some error - that tool center point would be somewhere near the robots root point.

Hope this helps!

Best,
Johannes @ Robots in Architecture

493
General Discussion / Re: 6 axis +1 external synchronuos
« on: October 14, 2014, 10:05:34 AM »
Hello,

Excellent, I've replied to your eMail. It's a very nice setup you have there, just be advised that at the moment, KUKA|prc only supports one external axis. We are working on a new version that is much faster, more accurate, and supports more external axes and expect an early member version to be published sometime in very late 2014, early 2015.

Best,
Johannes @ Robots in Architecture

494
General Discussion / Re: Brick laying
« on: October 14, 2014, 09:16:13 AM »
Hello,

Glad you figured it out! When you posted it was very early morning here, so I didn't see the posts until now.
I'll get back to your eMail in a few minutes!

Best,
Johannes @ Robots in Architecture

495
General Discussion / Re: Brick laying
« on: October 13, 2014, 04:28:20 PM »
I believe the pick and place example already uses the Custom Tool component, so just plug in your tool geometry as a single mesh (i.e. mesh it, join it, and ideally use ReduceMesh to reduce its size = increase the performance). Then double-click (or right-click) the component to get into the settings and enter the according XYZABC values. If you've already calibrated the tool at the robot then you can take these values, otherwise take a look at the explanatory graphic near the XYZABC values, i.e. with Z+ direction being the normal of the flange, and X+ pointing downwards.

Best,
Johannes @ Robots in Architecture

Pages: 1 ... 31 32 [33] 34 35 ... 37