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Awesome, don't hesitate to ask if you run into any more issues!
I've renamed the topic so that it's easier to find for people with similar issues, I hope you don't mind!

Best,
Johannes

Hello,

First of all sorry for the inconvenience! I don't think that it's related to the licensing, as a missing license would still show the components, they just would not work. This way, we don't ruin files when you e.g. pass a Grasshopper definition to someone with a non-member versions.
Anyway, the error seems to imply that the components are missing, if you go into Grasshopper and then File/Special Folders/Component Folder there should be 2 files with KUKAprc in the filename, and 2 with Oxyplot.
I've recently seen a problem where multiple accounts where in use on a PC and the installer put the components into the folder of the administrator, rather than the user.
If the files are missing, I would suggest running the setup again and specifying an easily reachable folder (e.g. Desktop) and then to manually copy the files into the components folder. After a Rhino restart, KUKA|prc should show up.

Let me know if that helped!
Best,
Johannes

P.S.: I've also unlocked the member section for you, you can now access the Rob|Arch eBooks, the new member versions of PRC etc.

Hello,
I'm not completely sure what you are referring to - the circular spindle holder? You can buy that ready-made, we got it from there: http://www.sorotec.de/shop/CNC-Mechanik/Fraesmotoraufnahmen/43er-Eurohalsaufnahme-.html
Best,
Johannes

Don't hesitate to do so!
All the best!

Hello,

That's the link I'm referring to: http://forum.robotsinarchitecture.org/index.php/topic,264.0.html
Timing depends of course on the speed, but you can also use commands like WAIT SEC 1 to stop the robot for a defined time.
I may be missing something here, but I don't see ANY advantage in locking A5 - there are robots with just 5 axis, but they don't skip the A5 either: http://www.kuka-robotics.com/en/products/industrial_robots/small_robots/kr6_r900_fivve/
So I guess that the locking of the A5 probably refers to some kind of PowerMill specific functions that does not actually "lock" the A5, but probably constrains it somehow.

The advantage of a robot is exactly the kinematic flexibility compared to 3-axis machines (as you can tilt and rotate the tool) but also compared to 5-axis machines (as you can rotate your tool around its own tool axis, thus avoiding collisions and other problems).

Best,
Johannes

Hello John,

There is also an extrusion example for the new KUKA|prc, however I don't think that it will be of very great help as your project is a bit different.
From the robot programming I don't see a particular problem - the challenge will be getting the material and timing exactly right.
Why would you want to lock an individual axis? You cannot really do this with a 6-axis robot - the next best thing would be to use axis movement that do not change the A5 value.

Best,
Johannes

Hello John,

I'm very sorry, I must have mussed your post before.
I'm not really an expert on welding, so what exactly do you mean by "pulse"? You can pulse the robot's digital output, sending a brief 24V signal over a defined number of seconds.
KUKA|prc contains a "Custom KRL" component where you can input any KRL code you want, for the pulsing it would be e.g. "PULSE($OUT[1],TRUE,0.1)" - that would enable the digital output 1 for 0.1 seconds.
Is that what you are looking for?

Best,
Johannes

Hello,
Yes, the full version of KUKA|prc supports RoboTeam, which is the KUKA software for synchronized robots. There are currently two way to synchronize robots, you can either instruct the robot to wait for the other robot, or you can tell them to perform a movement synchronously. For example, RMIT uses it with their cooperative Agilus robots.
You can also stream commands through mxAutomation to multiple robots, however then by default their are not linked.
Best,
Johannes

Hello,

I'll reply in English to keep it relevant for non-German speakers.
Basically you want to optimize the order of points. If you do this in regards to their Cartesian position you do not need to involve the robot simulation for the pathplanning - just use the output of your optimized order of points as the input of your toolpath.
I've attached a very simple example that just shuffles a list of points and then outputs it again.
Another way would be to optimize the process time via Galapagos, however to get access to the (simplified) process time values, you would need the Analysis component which is only available in the member version. I can issue a temporary license, though.

Best,
Johannes

Hello Amaury,

mxAutomation is a new product and therefore unfortunately only available for KRC4 controllers with KSS8.3+
I've attached the manual for the CodeSys version - there is no special manual for the integration through UDP.

Best,
Johannes

Hello Amaury,

The problem with RSI is that it requires you to communicate with the robot at the robot's cycle time, i.e. 4/12ms. With a Windows system, doing so is generally not reliably possible (some special solutions exist, though). We actually created a client but decided against making it publicly available as errors in communication when Windows doesn't reply in time can even damage the machine, and wrong inputs are generally dangerous. Most of our users who work with RSI developed their own RSI server that takes the data from Grasshopper/KUKA|prc and then communicates with the robot.
However, KUKA|prc does support mxAutomation, which uses a buffer and therefore does not require perfect real-time communication. As a consequence, it's also not fast enough to e.g. catch a ball, but you can nicely stream toolpaths over to the robot in a relatively save and reliable way. It's also quite a bit more affordable than RSI.
The Grasshopper components for mxAutomation are available to all members, but are not part of the usual download from the member section. The setup of mxAutomation can be tricky, so by making the components only available on demand we ensure that we are in direct contact with all our users.

Hope that helps!
Best,
Johannes

Hello,

I'm still not entirely sure what you want to do. Do you want to create  robot movements from C#? That should be very straightforward. If you want to do inverse or forward kinematics from within your C# code you will need to set the entire simulation up, defining the robot and everything else that is usually set through the GUI.
Personally, I would also suggest using Visual Studio for C# coding, which is much, much more convenient than the built-in editor. It makes debugging magnitudes more enjoyable.

Best,
Johannes

Hello,
KUKA|prc is not open source, so we don't have a full documentation of all functions or APIs. But of course you can use it like any other library. Can you give me some more details on what you want to achieve?
Best,
Johannes

Hello,
Sorry, KUKA|prc only supports regular KRC1-4 and Sunrise, the youBot is a separate system and so far not supported!
Best,
Johannes

Hello Francis,
That sounds like a bug, can you send me the file via eMail?
Thanks,
Johannes