Messages

Hello Christian,

Unfortunately I'm not aware of such literature regarding dimensioning etc. The problem is that every robot project is different, and companies are earning good money from their consulting/planning services.
So your best bet is finding someone with experience in the field you want to use your robot in. Also, payload is not everything, as you can get e.g. a  KR360 Fortec with 360kg payload and a KR300 Quantec with 300kg payload. And while there are just 60kg difference in payload, the Fortec is definitely the stiffer robot, as it weighs 3x as much as the Quantec.
In any case, milling is particularly tricky because of the varying loads...
The Springer Rob|Arch books provide you with a good overview of projects and deeper insight into the strategies, but they are not tutorials or instructional literature.

Best,
Johannes

...and I'll keep the feature on the radar, maybe I end up with a bit of extra time sometimes!

Best,
Johannes

Hello,

Sorry, the PATH interpolation is not supported at the moment. It shouldn't be that hard to implement as you basically re-orient the tool according to the tangent of the circle, but I cannot give you an ETA on that.

Best,
Johannes

Hello Antoine,

The circular movements do not get interpolated in advance, so it will only show the first and the last movement in the graph.
Is that a feature you would need?

Best,
Johannes

Awesome, that's great news, I'm happy that they're supporting you!
I'd still suggest making a backup of the current state, even if it's broken!
All the best with the re-install!
Johannes

Then it's probably best to reinstall the KUKA software, and then to restore to the last running WorkVisual project.
If you don't have a backup, try to connect to the robot from WorkVisual and download the projects you need.

Best,
Johannes

Hello,

My recommendation would be to try to load a previous project. Either activate the current one if you have it saved on your PC via WorkVisual, or alternatively go into the Expert user group and click the button with the cogwheel, somewhere on the left border, towards the middle. Activate a previous project from there.

Ideally everything will work again, but you may lose some changes, e.g. if you configured an additional Beckhoff IO module. This might also prevent the robot from moving, if it is looking for an IO module but cannot find it.

I once accidentally tried to copy a 40MB file and also got the error message - no further problems, though.

Best,
Johannes

Hello Nick,

The postprocessors for SprutCAM and Fusion can be generated by right-clicking the GH components in the member version of PRC; it's not included with SprutCAM by default!

Best,
Johannes

Hello,

We worked a lot with SprutCAM before, more recently for teaching and milling projects that are not too complicated we rely increasingly on Autodesk Fusion 360, as our students use it quite often for modelling.
So for both of these programs there are ways to import G-code into KUKA|prc.
However they work with custom postprocessors, so it's probably not that easy to take G-code from another software like MasterCAM.

I do not have access to MasterCAM at the moment, so I cannot really develop a workflow for it. I believe the default robot solution for MasterCAM would be RobotMaster, but of course it does not have all the capabilities of Grasshopper environment.

If you know how to write MasterCAM postprocessors yourself, you may be able to write G-code that looks similar to the code coming out of SprutCAM, though. So you would be able to use that component to get toolpaths from MasterCAM.

Best,
Johannes

Hello,

I just realized that you are referring to the automatic solver. It seems to be causing issues in that case, the rotation is going in the wrong direction.
I've replicated what the solver does in the attached, modified file, which now works fine in the simulation!

Best,
Johannes

Hello,

I also replied to your eMail, but as a reference I'm pasting the reply in a slightly modified form again here:

Please download the license file again from the private link that was provided to your university and install it by double-clicking the *.reg file. That removes the risk of entering a wrong code.
I'm honestly not entirely sure what caused your components to disappear (and a few to remain), but there should be an easy way to resolve that. In Grasshopper go to File/Special Folders/Components folder. A Windows explorer window will open, now close Rhino and delete all files with KUKAprc or Oxyplot in the name. Then run the installer of the current version, which you can get from the member section.
We usually digitally sign our files, so that they do not cause problems, but you can right-click the copied files, go to properties and check if there is a checkbox to "Unblock" them. There are various threads on Grasshopper and unblocking. But as I said, that is not likely.

Best,
Johannes

Hello pak,

I'm currently on the train and cannot check it right now, but I believe the AA's setup component from Hooke Park uses a horizontal turntable.
However, it isn't necessarily wrong if the robot is looking to the side, as you can then again compensate that by using the right base coordinate system.

Best,
Johannes

Hello Antoine,

We usually digitally sign our releases, which is why you don't get the "unblock" problem. In your case it was an "unofficial" release, so that's why the file wasn't signed.

Happy to hear that it works!

All the best,
Johannes

Hello,

The simple answer would be "from KUKA", but they may charge you for it.
We had a similar case recently and there seemed to be a folder called KRC1_CD or so on the D: drive, which seemed to contain the installer. We did not have to reinstall it, so we never tried it out, and it may also have been done manually, but it might still be worth checking if that folder exists.
You can only see the D: drive in expert mode or through Windows!

Best,
Johannes

Hello,

I slimmed the file down to two axis movements and in my case it seems to work fine.
Can you make sure that you installed the special version I sent you? Maybe Rhino was open in the background and prevented you from overwriting the file?

Best,
Johannes