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General Discussion / Re: Vacuum Table / Workholding
« Last post by CUarchitect on Today at 04:11:55 PM »
Thanks Johannes!
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Support / Re: Reset Axis with TURN Input
« Last post by Johannes @ Robots in Architecture on Today at 10:18:45 AM »
Hello Patrick,

Theoretically it's not difficult at all, the problem is just defining a "universal" solution. The "hacky" solution would be to take the calculated axis values from the Analysis component, set the TURN values accordingly and output the final code through another core component.
Of course that doubles the calculation time, but depending on the complexity of your toolpath that may not be an actual problem.

Best,
Johannes
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Support / Re: Reset Axis with TURN Input
« Last post by ArtisEngineering on Today at 09:59:50 AM »
Thanks Johannes, its quite clear now.
Risking that any robotics engineer explodes now, but this sounds like a trivial problem to me which could be solved by some simple control routine.
I'm sure there are plenty of papers on the topic, maybe you got some at hand as reference?
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General Discussion / Re: Vacuum Table / Workholding
« Last post by Johannes @ Robots in Architecture on February 22, 2017, 07:15:11 PM »
I've seen all kinds of solutions, we use a steel welding table which can be useful for clamping. I've also worked with a company milling massive stone, and they simply put gypsum around the block of stone, for example.
The issue with a vacuum table can be that the workpiece may move around a bit if the vacuum is enabled.
So it very much depends what material and in what scale you are milling.

Best,
Johannes
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Support / Re: Reset Axis with TURN Input
« Last post by Johannes @ Robots in Architecture on February 22, 2017, 06:32:29 PM »
Hello Patrick,

Basically with the TURN value you define if an axis value is >= 0 or not. In your example, the issue is that the workpiece is quite in front of your robot and you are assigning the same TURN to all positions. So you define with the TURN value, that A1 is >=0. So now if the robot would move to -5, with a defined TURN value it would move to 355 instead.
So you either need to provide different turn values, or you just move your workpiece, so that all positions are on one “side” of the robot, thus circumventing the problem.
Also, I would strongly recommend to enable the smooth robot simulation as well as movement interpolation, as it makes spotting problems much easier!

Best,
Johannes
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Support / Reset Axis with TURN Input
« Last post by ArtisEngineering on February 22, 2017, 12:16:07 PM »
In order to reset axis values during circular or semi-circular movements, I tried to wrap my head around TURN input in PTP commands as discussed here:
http://forum.robotsinarchitecture.org/index.php/topic,319.msg892.html#msg892
http://forum.robotsinarchitecture.org/index.php/topic,337.msg947.html#msg947

However, as soon as A6 seems to be working, another one starts shouting.
Do I need to provide TURN information for every step and only switch at critical positions?

Thanks in advance,
Patrick
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General Discussion / Vacuum Table / Workholding
« Last post by CUarchitect on February 22, 2017, 12:52:06 AM »
What kind of solutions are people using for workholding when using industrial robots for milling?

Thanks,

Wade
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General Discussion / Re: "new component" request diO/output
« Last post by Johannes @ Robots in Architecture on February 20, 2017, 07:39:58 PM »
Hello Ludo,

I would personally recommend to do this with a Custom KRL component, as you then have the complete freedom how to toggle it, add any additional WAIT commands that may be needed etc.
An example is attached!

Best,
Johannes
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General Discussion / "new component" request diO/output
« Last post by ludo on February 18, 2017, 11:10:29 PM »
Hi johannes,
is it possible to increase the number of dIO in the dIO component to 16 Outputs ?

I would like to use the 8-9-10-11 DIO output ?
Or could you create a DIO component where we can choose, select the Number of the outputs we only use ?

thanks
Ludo
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Tutorials / Video Tutorial - Pick & Place Part 2
« Last post by singline on February 18, 2017, 03:23:46 AM »
Hi Guys,

Continuing from part one we setup multiple bricks to pick and place in Grasshopper with KUKA PRC:

Tutorial here: https://youtu.be/cC3WjUK8r1Y
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