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Messages - Johannes @ Robots in Architecture

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1
Support / Re: Python script not being generated in KRL
« on: April 20, 2021, 07:29:59 PM »
Great!!

2
Support / Re: Python script not being generated in KRL
« on: April 20, 2021, 02:59:51 PM »
Hello,
Hmmm... I can only work from what I am seeing in the screenshot.
Basically all commands need to be provided as a list to the KUKA|prc Core component.

However, you are getting the WAIT FOR command and then use its output to set the amplitude of a Z-vector to change the position of your second PTP movement. Your Python script is only outputting "0", how should that affect the simulation?

Note that without mxAutomation you are not getting real-time data from the robot.

To write something like that you could use the Custom KRL component e.g.:
Code: [Select]
WHILE $IN[1]==FALSE
LIN_REL {Z -1.0}
ENDWHILE
That moves the robot down by 1 millimeter, checks the input and then repeats it until input 1 is TRUE.
The proper way would be to do that through interrupts, but if a millimeter is not a problem, that is propably the simplest way to do it.

Custom-KRL code will not show up in the simulation, though!

Hope that helps!
Best,
Johannes

3
Support / Re: Python script not being generated in KRL
« on: April 19, 2021, 10:39:37 PM »
Hello,
There are some tricks to get C# scripting to work, I personally haven't worked with Python scripting though. Can you specify a bit closer what you mean that the KRL does not contain your scripts? Ideally attach a short example!
Thanks,
Johannes

4
Sure, thanks for the feedback!
Best,
Johannes

5
Support / Re: How to generate comments to KRL-code
« on: April 19, 2021, 10:56:47 AM »
Hello Henri,

Here is an example how that could be done, it puts the length of each path into a comment. Of course that would also work with IDs etc.
Code: [Select]
LIN {X 88.173, Y 74.122, Z 0, A 0, B 90, C 21.114, E1 0, E2 0, E3 0, E4 0} C_DIS
LIN {X 89.288, Y 74.122, Z 0, A 0, B 90, C 21.066, E1 0, E2 0, E3 0, E4 0} C_DIS
LIN {X 89.288, Y 74.122, Z 20, A 0, B 90, C 21.066, E1 0, E2 0, E3 0, E4 0}
;Path length: 50
LIN {X 71.788, Y 74.122, Z 20, A 0, B 90, C 21.829, E1 0, E2 0, E3 0, E4 0}
LIN {X 71.788, Y 74.122, Z 0, A 0, B 90, C 21.829, E1 0, E2 0, E3 0, E4 0} C_DIS
LIN {X 71.788, Y 72.51, Z 0, A 0, B 90, C 22.011, E1 0, E2 0, E3 0, E4 0} C_DIS
LIN {X 71.788, Y 70.897, Z 0, A 0, B 90, C 22.191, E1 0, E2 0, E3 0, E4 0} C_DIS

This might cause issues with an older community version, let me know if you get an error message or if the robot disappears. The reason for that would be providing a Custom KRL before a movement command at the very beginning. This is fixed in the member release.

Best,
Johannes

6
General Discussion / Re: Information on KUKA tool?
« on: April 16, 2021, 11:52:13 AM »
Hello,

Please take a look at that recent post of mine which addresses a similar question: https://forum.robotsinarchitecture.org/index.php/topic,925.msg3374.html#msg3374
So yes, unfortunately you will most likely have to build adapter plates yourself - or pay someone to do that for you.
For industrial equipment there are not many online shops, the usual way is to contact the manufacturer who will then connect you with their sales department or a local distributor.
A good way is to look on places like eBay as there is often used industrial equipment at very low prices.

Best,
Johannes

7
Hello Michael,

Today's PRC release reintroduces that option!

Best,
Johannes

8
Awesome, glad that it worked!

Best,
Johannes

9
Hello Michael,

Now that is super interesting to hear. I will definitely put the feature back in for the next release!
Sorry for the inconvenience!

Best,
Johannes

10
Hello Jon,

I would also get rid of the "throws SocketException" part and the socket object - unless you need socket communication. Don't forget to define your mediaFlange object where previously the socket was defined.
The naming of the IOs is not really standardized, but you should be able to do something like mediaFlange.SetOutput1(true)

Code: [Select]
public void run() {
        running = true;
        while (running) {
            mediaFlange.SetOutput1(true)
        }
    }
I haven't worked with Sunrise in quite a while, but Sunrise Workbench should suggest the possible options anyway.
The code above would constantly set your output 1 to true, which is not terribly exciting.
Best,
Johannes

11
General Discussion / Re: Information on KUKA tool?
« on: April 13, 2021, 04:37:53 PM »
Hello,

What do you mean by KUKA tool? A tool for a KUKA robot like a gripper?

Best,
Johannes

12
Hello Jon,
Attached is a thread example, the following snippet passes a reference of the BlockingQueue to the thread:
Code: [Select]
public UDPReceiver(BlockingQueue<PRC_CommandData> UDPInput) throws SocketException {
        socket = new DatagramSocket(30000);
        UDPQueue = UDPInput;
    }
I would pass a reference to the IO group containing the media flange the same way and then see what happens!
Best,
Johannes

13
General Discussion / Re: Robot for CNC Wood Milling
« on: April 12, 2021, 10:42:17 PM »
Hello,
Unfortunately that's a major challenge for robotic arms, there are hardly any standard tools, usually you need to build at least an adapter plate to e.g. mount a gripper to the robot. UR had a pretty good idea with their UR+ platform (https://www.universal-robots.com/plus/products/?) however even that does not contain prices.
That's one of the reasons why robot integrators make good money, as they offer a package price and deal with all the details. Of courses that's quite a bit more expensive than doing it by yourself.
Regarding the spindle: Usually you need the spindle and a fitting inverter. The opening/closing/cleaning... of the spindle is done via pressured air, so you need digital outputs at the robot and connect them to valves. Often, the spindle also needs a 24V power supply, e.g. for the fan or for operating certain buttons. And a lot of cables!

That should give you an idea, the complexity of the integration of the spindle depends mostly on the chosen inverter, many of them are a huge pain to program. Especially with a spindle I would recommend to get one without too many fancy functions that you don't need but make the handling more complex.

We're currently using an HiTeco spindle, I've also seen plenty of HSD spindles. For robots, they usually recommend the long-nose variants.

Hope that helps a bit with estimating the effort of integrating a spindle!
Best,
Johannes

14
Hello Michael,

Thanks a lot for the kind words and the feedback! The Redundant Position functionality is still in, to be honest I assumed that hardly anyone is using it and therefore got rid of the UI option.
Have you compared whether the file-size really makes a difference? I got some infos from KUKA that omitted positions take up the same amount of memory (not on the harddrive, but once it's loaded to the robot).
Have you had the case were skipping the redundant positions made a difference?
If so, I'd be more than happy to re-integrate the option.

Best,
Johannes

15
General Discussion / Re: Robot for CNC Wood Milling
« on: April 06, 2021, 11:41:31 AM »
Hello Harald,
With KUKA|prc we only act as the interface to the robot. I'm not sure if there is a mature CAM plugin for Grasshopper, but of course people have realized extremely complex scripts for milling that incorporate all these features. It's just that they are often very focused on one specific application, rather than generic purposes by other users.
We - as Robots in Architecture - have no plans at the moment to develop CAM solutions that are natively integrated into KUKA|prc. We would rather provide slick ways of getting toolpath data from a dedicated CAM plugin to KUKA|prc.

Best,
Johannes

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