Messages

Hello Max,

So the intended behavior in KUKA|prc is that you calibrate an offset base (not a regular base) which is then kinematically linked with the robot. So when you go into base movement mode, switch to the E1 and move it, the robot should move along with it (assuming an offset base is selected).

From your description it sounds like this is happening, which would be good. But is there a mismatch between simulation and reality?

Best,
Johannes

Here is an example how you could replace a digital output command with Custom KRL.
Best,
Johannes

Hello,

For these purposes, you can use the "Custom KRL" component. You can simply write "DESLIGAR()" as the input and it will be written into the file at that position. The content will not be simulated, though.

Best,
Johannes

Hello Carlos,

Yes, that's how it should work. With a Boolean on/off only positive change will show up. So you cannot retract the filament that way.

Best,
Johannes

Great that you got it to work!
Best,
Johannes

Good Morning Max,

There are some examples in the tutorial and support section, but could you confirm what you are trying to do?
Because a turntable rotates. If you want to have a coordinate axis "supported" then you would probably be using a linear axis/track/rail.

Best,
Johannes

Well, what is easy and not is often hard to judge in advance. But in your case, with the relatively simple geometry, it only means that every second layer will be reversed, which is easy enough to do. See attached.

Best,
Johannes

Honestly, I don't think there is a way to have a zig-zag infill plus a perimeter that start and end at the same point. I played around for like 15mins, you can find the file attached, maybe there are some pointers that you can use. I guess you could split the infill and have one zig-zag that goes "down" and then another that goes up.
Also, your simulation is very slow because of the huge tool meshes. Join them in Rhino into one mesh, run ReduceMesh and get them down to like 5000 faces and everything will be much nicer and more responsive.

Best,
Johannes

Hello,

Your Rhino file was missing, so I don't know how your geometry looked like. With the contour component the robot would follow one contour and then go in a straight line to the next contour. What would be your goal? That it becomes more like a helix without sudden changes?

Best,
Johannes

Also, here is a simple example on importing G-code!
Best,
Johannes

Hello Carlos,

Sorry, I cannot help you with that, maybe someone else can contribute. While we work with robotic 3D printing, it rarely involves infill. You probably found it as well, but here's a top result from Google that looks helpful: https://discourse.mcneel.com/t/creating-infill-geometry-in-grasshopper/87592
I'll get back to you via email regarding the trial license.

Best,
Johannes

Hello Carlos,

For a temporary license you can contact me at johannes@robotsinarchitecture.org.
However, I am not sure if a slicer developed for small scale printing will help you a lot with your probably much larger nozzle and objects. Don't expect instant success but as is often the case with 3D printing a lot of tuning ;)

Best,
Johannes

Hello,

While we do have some internal tools, there is currently no official way to get any toolpaths onto robots running iiQKA. Also, we cannot share any of our tools as they are derived from an internal collaboration with KUKA.
There is a KUKA techpackage for iiQKA called ExternalAPI that works like RSI (i.e. hard real-time control) however we currently do not have plans to support that through Grasshopper as it needs a real-time capable system.

Best,
Johannes

If nothing comes out of it, please send me the description and I'll follow up with some people at KUKA Germany.

Best,
Johannes

Hello,

We had a polishing process that would repeatedly (software, not hardware) crash (!) the iiwa after like 20mins, apparently some internal countdown expiring or something. We switchted it to a LBR14 and suddently it went away... While I like the iiwa a lot, Sunrise just isn't as mature as KSS (not a surprise) and to my knowledge, it's also no longer getting updates.
My suggestion would be to ask the KUKA hotline about that error, ideally they can provide a reason or at least a troubleshooting strategy.
Let me know if there is anything I can help with from our side!
Best,
Johannes