Messages

Hi Johannes,

Thank you for your suggestions. I imported the G-code, which would induce a singularity. Unfortunately, I am not able to see it in the analysis graph.
Additionally, I had tried turning the low-resolution robot model on and off. It doesn't make a difference on my robot model. Could it be specific for this robot (KUKA Iontec KR30-70 R2100) only?

Thank you,
Taj

Hi Johannes,

Thank you for your quick and helpful response, as always.

1. I guess what I am facing is a singularity. It is correct that this starts to occur when the original TCP (without the tool) reaches a height close to the height of the robot. Is there a method of predicting singularity on the KUKA | PRC for a certain program? I know that I didn't get any errors.

2. Thank you for letting me know of this method to capture the screen. However, I meant a high-polygon robot model. I attached the captured image to this response.

Sincerely,
Taj

Hi Johannes,

I have two questions.

How can I ensure that the actual robot speed doesn't change when the TCP reaches higher points in the Z axis? When I print concrete structures that are taller than a certain limit, altough the robot follows the toolpath without crashing, it slows down drastically in certain points.

How can I obtain a high-resolution snapshot of the robot in the KUKA - PRC?

Thank you,
Taj

Hi Johannes,

I am trying to print cylindrical shell segments stacked on top of each other. I created a separate program for each segment. In practice, when I print, there is a slight deviation in the XY coordinates of the current segment from the previous one.
I checked my SRC. and G-code. files. It seems that the XY coordinates there are the same. What do you think could be causing the issue? How do you think I could fix that?

Thank you,
Taj

Hi Johannes,

Got it. I will look more into the slicing software and adjust the settings.

Thanks,
Taj

Hi Johannes,


I am trying to read the .gcode for a few circular motions at varying heights. I am certain that there is only one revolution at each height. However, when I feed it to KUKA core through the gcode command, the robot makes two revolutions at each height. Where do you think the problem is originating from?

Thank you.

Hi,

I created a program from gcode. I wasn't able to find any settings for speed in the .gcode command module. The code generated has speeds of 0.2, 0.1, 0.08, and 0.035 m/s. Is it possible to change all of these in KUKA PRC interface? what I am doing to circumvent this issue is replacing all the instances of these speeds with the speed that I want.

Thanks,
Taj

Thank you so much, Johannes.
I tried changing B from 90 to -90. However, the robot took an unnatural position.
Fortunately, by changing the C from 0 to -180, I was able to obtain the position I wanted.

On another note, there is an error in the beginning of the simulation. Robot tries to take the TCP to a point close to the origin. I don't know what is the cause of this. Below is the corresponding lines of code associated with this:
PTP {X 0, Y 0, Z 23.1, A 175.534, B 0, C 0, E1 -1, E2 0, E3 0, E4 0, S 'B110'} C_PTP
LIN {X 0, Y 0, Z 23.1, A 175.534, B 0, C 0, E1 -1, E2 0, E3 0, E4 0} C_DIS


Sincerely,
Taj

Hi Johannes,

I am trying to generate a toolpath for 3D printing. Thankfully, I can import .gcode files to the grasshopper environment. The problem I have been having is the orientation of points. I use Simplify3D for generating .gcode. It automatically makes the direction of Z axis from bottom to top. However, TCP of my robot is directed with an inversed Z direction.
I attached all the necessary files to this post. Can you please take a look? Thanks.