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Support / MXA questions
« Last post by EKing on June 06, 2018, 01:33:30 PM »
Hello Forum.
I am working with MXA and am having a hard time getting it to run consistently.
I often get the following errors and I am not sure what is triggering them or how to solve them:
any advice on what these mean and potential causes?I know that is a broad questions sorry. and thanks. E

[MXA] 783
UDP connection timeout 3000 ms triggered

Robot stopped by SoftPLC (MXA_SYN)
Originator KS


KSS00108 Dynamic Braking Active
Support / Re: Trimming
« Last post by Maximilian.Teutsch on June 06, 2018, 08:55:25 AM »
Hey Johannes,

thanks for your quick response. Another simple question for you ;) -  how can i implement the tool-radius offset in this example?

Support / Re: Trimming
« Last post by Johannes @ Robots in Architecture on June 05, 2018, 05:58:47 PM »
Hello Maximilian,

I guess it's connected to the meshing, but as you are using a nice surface, here's an easier way!

Support / Trimming
« Last post by Maximilian.Teutsch on June 05, 2018, 04:12:12 PM »
Hello everyone,

I want to trim a curved pattern and used one of Johannes` learning tutorials as an template. Unfortunatelly makes the robot strange movements at the cornerpoints of the guidecurve and i find no way to avoid it.

Does anyone have a clue, what i do wrong or has another solution for trimming patterns?

Best regards

Did you calibrate your base as an Offset Base?
Otherwise it won't rotate!
Thanks for laying out the workflow so clearly, I'm sure that's also helpful to other users!

Support / Moving trajectories - Simulation varying from physical movement
« Last post by klarggyjk on June 05, 2018, 09:51:19 AM »

We have a KUKA Quantec KR240 R2900 with a turntable. Making a wild guess, i used the KR 90-120 R2900 Robot Type.
I'm using the custom turn table component which is perfectly oriented in A B and C to the hundredth of a degree. The X,Y, Z of the robot base is 0,0,0. The one of the turntable is -394.739,+1965.546,+591.775.
Since i want to keep working in the robot base, I have set X,Y,Z as +394.739,-1965.546,-591.775 and called it base 0. In the real world, base 0 is 0,0,0,0,0,0 as said before which is cheating, and might be the cause of the issue.

We have to mill the ends of a thousand wood battens. We place them on the turn table, which rotates to allow the robot to access difficult position. (for exemple, if the robot has to mill under the beam, it has to be positioned almost right in front of it (about -57°), while if it's on the upper part, the table has to rotate in the other direction, around +15 degrees). Reading from another post i can't find anymore, i made a formulae to calculate the angle for the turntable, based on the Z axis the mill has to come from. This means that i don't use Dynamic Value by vector (since i couldn't figure out how it worked, and provoked a number of issues) but "Same as Previous Value". The calculated angle is sent into the E01 input of the LIN Movement.

The problem is that the whole virtual trajectories move during the simulation (not just what the robot does), but the physical trajectories are those drawn in the canvas at the very beginning of the simulation, before the first rotation of the table.

What could cause it ? is it the base cheating, since base of the turntable rotates ? How could i solve that ?

I've attached 2 pictures. The only difference is the simulation slider.

Thank you very much,

Best regards

Hello Jorge,

If is grey it means that the submit interpreter is not running. Take a look in your R1/System directory and see if there are any errors displayed for the sps.sub. Try to fix the error, by e.g. commenting out lines that refer to hardware that is no longer connected.
That issue might then also be connected with you not being able to teach positions.

General Discussion / Programming Issue: Kuka Robot difers form Controller
« Last post by donjorges on June 04, 2018, 03:07:16 PM »
Hey guys,

I´m proud owner of a Kuka Kr150 L150 sp/2 2001, a Controller  KRc2 Mp5 (125/2; 150/2; 200/2) , and pendant is Krc1, running software version KRc V4.1.6 sp3  / GUI version  V3.3.76 B207., Kernel version KS V4.83.

And I was wondering if that could affect, when i'm trying to create a manual program, doesn't give me any of the commands to create points of movements.

To add a point also, is that the  S|I|R indication ligths appears S=gray, I=green, R=gray.
and would like to know the meaning of the "S".

but i get it to jog manually.

Nacar bot
Support / Re: Best scripting language to learn to program alongside KUKA|prc?
« Last post by singline on June 01, 2018, 06:27:10 AM »
That's the course I've done. You won't find one better for getting a good grasp on Python. You'll immediately start to identify ways in which it can be used to drive better and more advanced use of both KUKA|PRC and Grasshopper!
Support / Re: Best scripting language to learn to program alongside KUKA|prc?
« Last post by jschmidt on May 30, 2018, 03:52:56 PM »
@umaojha: could you explain what you mean by your comment? Step by step programming?

and thank you @singline! I've recently started an edX course in Python.
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