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General Discussion / Re: KUKA Robot Choices
« Last post by Johannes @ Robots in Architecture on June 19, 2018, 06:22:48 PM »

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.

General Discussion / KUKA Robot Choices
« Last post by nickfr1670 on June 19, 2018, 05:42:24 PM »

In grasshopper is the KR 150L150SP/2 the same as the KR 150-240 -2L130/230?
Support / Re: Custom Turntable for 3+2 style milling
« Last post by Johannes @ Robots in Architecture on June 18, 2018, 10:11:53 AM »

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

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.

Support / Custom Turntable for 3+2 style milling
« Last post by EKing on June 17, 2018, 03:40:26 PM »
Hello Forum.
I am following videos on how to use the turntable function with PRC but these assume a KUKA generic turntable.

I would like to get a rotary axis as an external axis and use it just for positioning the work piece between KUKA milling movements.
Are there any tutorials that would show how to assign a custom geometry to an external axis and how i would generate code to position the work piece between kuka movements?
Something like: do typical prc movements... then stop... spin rotary axis... then continue PRC movements?
General Discussion / Kuka krc2 or KRC3 Leoni TCP sensor connection?
« Last post by happytriger2000 on June 11, 2018, 12:00:22 PM »
Hi all,
        Has anyone used an Leoni TCP sensor with krc2 or KRC3?
Leoni supports most of the communication protocol in my case is devicenet, and the wago 750-346 field bus connection series 231(MSC) is currently used to connect to krc2/3 mfc port. From what I heard is that Leoni TCP sensor is connected to Leoni controller then a cable from Leoni controller to  devicenet of kuka, but that’s not possible because that port is taken (v+, can_high, drain, can_low, v- ), any suggestion is appreciated,

General Discussion / Re: WISH : make .src smaller by removing external axis values
« Last post by Wall-E on June 11, 2018, 11:09:34 AM »
Hi Johannes,

This should be easy to test : If I can cram in more waypoints for a given milling, then it works.
I'll come back to you when I have the occasion to test that out.


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.


Are you sure that the "Function Generator" is an included feature? If you take a look at the manual (e.g. here it looks like a tech package like RSI.
But keep me updated, I'm curious about that as well!


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.

General Discussion / WISH : make .src smaller by removing external axis values
« Last post by Wall-E on June 09, 2018, 12:45:19 AM »
Hi Johannes,

I started reading the KRL documentation after three years of owning Wall-E :)
I realize that the .src generated by KUKA|prc uses a "E6POS" data type to define the trajectories, and this includes 4 values for external axis.
Since I have no external axis, it would make the files much smaller if I could toggle an option to use just a "POS" data type with no external axis values.
Specially for milling, this would allow me to generate longer tool paths...

Would you consider including such an option in the main component ?

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