Messages

Hello,

Yes, that's the new version. Just make sure to provide the same number of synchronization components to both robots.
What example are you referring to?

Best,
Johannes

Hello,

That sounds super interesting!
Beyond some difference in regards to UI and interfaces, the main difference with newer robots is more memory, i.e. more complex toolpaths. However, where you might need many thousands points on a milling toolpath, plasma cutting should be less complex as you only make single cuts. KRC2ed05 is definitely a good choice as it's running Windows XP. My recommendation would be to take a robot that is already equipped for a seventh axis, so that retrofit costs are reduced. If you hire an integrator, though, they should of course be able to deal with that.
I'm not really a plasma cutting expert, however there were some relevant posts on the forum. Unfortunately I don't know an independent integrator in your area.
Regarding KUKA|prc I would assume that it works nicely. The difference to RobotMaster is that RobotMaster has got predefined cutting cycles while KUKA|prc gives you more freedom to plan your toolpaths and react to specific geometric challenges, e.g. from the corrugated panels. So it depends on what you are going for. You can probably just give each a try once the robot is installed.
As with most robot things, there are not many kits around, so you will need to create your own tool holder and interface.

Best,
Johannes

Nice!
Thanks for sharing!

Hello,

I just tested it with the most recent release and if you set the Continuous input to TRUE, you should get $OUT_C[8]=FALSE instead of $OUT[8]=FALSE
As a stop gap to test it with your file, you could also just search/replace in the text file.
Just note that the output will be triggered once the advance pointer moves over it, so it could be active a bit early.

Best,
Johannes

Hello,

With continuous movement it shouldn't stop, can you copy/paste a representative part of the generated KRL code?

Thanks,
Johannes

Hello,

I'm not a welding expert, but you can use the regular KUKA PULSE command that works like that: PULSE($OUT

• ,state,time)
  Just put it into a Custom KRL component, which you then place in the right order.
  
  Best,
  Johannes

Hello,

In the Analysis tab of the Settings window you can switch the display to relative values!

Best,
Johannes

Hello,

I'm sure that will be helpful for others as well, thanks a lot for sharing!

Best,
Johannes

Hello,

Sorry for the delay. In the eMail you mentioned that you wanted to do this for multiple surfaces, or did I misunderstand the issue?
Attached would be my variant.
If you want to work on multiple geometries, you need to avoid Flatten and take care that the data paths match. That is why there are several Trim Tree or Simplify Tree components.

Best,
Johannes

Hello,

Just in case I would temporarily disable the firewall. But it shouldn't cause the null pointer exception.
The line numbers from your file probably don't match up with mine due to modifications, so I would just place a few breakpoints and step through the program.
Probably culprits are that there is a typo with the tool or base - do they both exist?
Also, start with a simple program with just a few axis movements and see if they work.

Best,
Johannes

Hello,

I'll have to look into that, unfortunately this week is rather packed and there are many people on holiday. I may have time tomorrow, but cannot promise anything.
If you can send me a simple file that shows your problem (or one with X and one with Z) that would make the troubleshooting easier, in case the issue is not generic, but specific to your usecase.
One more comment regarding XYZABC: There are multiple ways to express the same position. So if the number is not a perfect 90 degree, it doesn't necessarily mean that it's wrong.

Best,
Johannes

Hello,

There was just a post about this a few minutes ago: https://forum.robotsinarchitecture.org/index.php/topic,1011.msg2838.html#msg2838
And I've attached a simple timber connection below as well.
The strength of Grasshopper is mass customization, so if you do many connections it makes sense to program it. If you have individual pieces that you mill out of big blocks of material, it makes sense to use a CAM software. From KUKA|prc you can e.g. import data from Fusion 360.

Best,
Johannes

Hello,

For performance reasons there is some rounding happening for the visualization (where we assume that you work in the range of millimeters or maybe 1/10mm, as zooming in to 1/100mm does not really make sense as the robot isn't that accurate), but it should not noticeably effect the code.
Where does the tool axis not look straight anymore?
At least the math seems right, if you change from X to Z you do have a 90 degree rotation, from -49 to -139.

Best,
Johannes

Hello,

Where is the logic in your SRC file coming from? If you programmed it yourself in Grasshopper then you would have to look there for the origin of the negative velocity.
If you imported it from an external software, I would need to get (at least a part of) the original file so that I can see what's going on!

Thanks,
Johannes

Hello Andreas,

That was a silly typo, I have fixed it. It will be included in the next release, you can also send me an eMail to johannes@robotsinarchitecture.org and I will send you the fix in advance.

Best,
Johannes