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Messages - Johannes @ Robots in Architecture

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1
Support / Re: External Axis Output
« on: December 12, 2019, 07:14:34 AM »
Hello Andrew,

We recently integrated support for dummy axis, i.e. they take up a number but are not simulated.
It's not yet in the public release as we are currently quite busy putting several new features in and want to test it properly.
If you send me an eMail, I'll send you an unofficial build.

Best,
Johannes

2
General Discussion / Re: how to extract collision information
« on: December 11, 2019, 06:05:59 PM »
Hello Ahmed,

If the external axes are showing up the test license was installed correctly.
In order to get the Analysis output, check the "Output Analysis Values" box in the KUKA|prc Advanced Settings!

Best,
Johannes

3
General Discussion / Re: how to extract collision information
« on: December 09, 2019, 07:29:36 AM »
Hello,

I've replied to your mail and am sending you a temporary license to give it a try!
Let me know if you need any help implementing the members-only Analysis component to your workflow!

Best,
Johannes

4
General Discussion / Re: where can i learn mxautomation
« on: December 06, 2019, 08:14:59 AM »
Hello,

Attached is the quick-start guide, I don't think it's confidential.
Before you test it with KUKA|prc, use the KUKA test program that you can get from the mxAutomation_2.1.6.2681\Example PLC\Programming languages folder of the tech package.
Once the KUKA program is working, you can proceed with KUKA|prc.

Best,
Johannes

5
Support / Re: axis errors for continous circular movement
« on: December 04, 2019, 10:37:32 AM »
Hello,

The iiwa is very constrained within its reachability, if you change the initial posture from 110 to 010 it should work.
The setting is located in the Advanced Settings, in the Start-/Endposition section.

Best,
Johannes

6
General Discussion / Re: where can i learn mxautomation
« on: December 04, 2019, 10:31:26 AM »
Hello,

We have a new license format, this is why you are encountering the problem. I assume your license is in the *.reg format?
Please send me the current license via eMail and I'll update it to the current format!

Best,
Johannes

7
General Discussion / Re: where can i learn mxautomation
« on: December 04, 2019, 08:19:27 AM »
Hello,

It only shows up if you've got the license for KUKA|prc installed.
For the new releases, the license comes in JSON format. If you've got the JSON file, go to the KUKA|prc Settings / Advanced / Licensing / Install License.
Please send me an eMail if your license is still in the old format!

Best,
Johannes

8
General Discussion / Re: where can i learn mxautomation
« on: December 03, 2019, 07:22:04 AM »
Hello,

As a member, you can download current versions from here: https://forum.robotsinarchitecture.org/index.php/board,5.0.html
Please just take a look at the release notes, as the two most current releases only support mxAutomation for KSS 8.5, i.e. the most recent version.
If you've got a robot with KSS8.3, please download a previous version. We are planning on making this modular in the future, but I don't have an ETA yet.

Best,
Johannes

9
General Discussion / Re: where can i learn mxautomation
« on: December 02, 2019, 07:40:44 AM »
Hello,

mxAutomation is its own techpackage, you don't need any extra software, it's specifically made for moving the robot around, but it's not running in hard real-time (e.g. you cannot make the robot catch a thrown ball.)
RSI is made for getting and receiving data in hard real-time, you can either superimpose a real-time movement over a programmed KRL movement (e.g. to keep the pressure equal for polishing) or you can control the robot fully in real time. The challenge is that Windows is not a real-time operating system, so reliably sending/receiving data within the robot's cycle time can be a challenge. Also, you need to take care of proper acceleration and braking ramps.
Ethernet KRL is just a way of sending and receiving any kind of data via Ethernet. If you want data from Ethernet.KRL to move the robot, you need to write your own logic. Ethernet.KRL - if I remember correctly - is not "as realtime" as RSI.

I hope that helps!
Best,
Johannes

10
General Discussion / Re: where can i learn mxautomation
« on: November 29, 2019, 09:11:27 AM »
Hello,

Just open my file, and then press Ctrl and Alt and left-click on the mxAutomation component. Grasshopper will then show you where it is in the tab.
mxAutomation uses ProConOS in the background, I believe that's also the product used for the SoftPLC?
You would need to check with KUKA regarding that.

Best,
Johannes

11
General Discussion / Re: where can i learn mxautomation
« on: November 29, 2019, 07:52:14 AM »
Hello,

First you need to install mxA on the robot and test it with the small utility that KUKA ships along with it. Note that you need to be in EXT mode and may need to disable the firewall on your Windows PC. For the mxA installation, actually read the documentation on how to set it up in WorkVisual, don't just install it like other techpackages or it won't work.

In Grasshopper mxAutomation uses the usual KUKA|prc components, only some like e.g. Custom KRL don't work real-time and are ignored.
An important aspect is how to deal with changing data.
In the mxAutomation default mode, when the data changes, the robot restarts the toolpath. In adaptive mode, if it's the same number of positions (e.g. just shifted) it will take the equivalent position from the new toolpath.
In iterative mode it will finish a toolpath and if there is new data continue with that afterwards.
I've attached a simple example file.

Note that in EXT mode the speed is not limited, so be extra careful, set safety zones so that it cannot crash into the floor etc.

Finally, note that current KUKA|prc releases only support mxAutomation on KSS 8.5. If you're running 8.3, then for now please load a slightly earlier version (see release notes). We're looking into how to best embed both versions.

Best,
Johannes


12
Support / Re: Relative movement?
« on: November 20, 2019, 07:32:46 AM »
Hello,

I've fixed it in the most recent release!
Thanks for letting me know!

Best,
Johannes

13
Support / Re: Relative movement?
« on: November 18, 2019, 01:48:41 PM »
Hello,

I haven't been able to replicate the error message, can you send me the file where it happens? Ideally just the relevant part, in case it's a large file.

Best,
Johannes


14
Support / Re: Relative movement?
« on: November 18, 2019, 07:41:39 AM »
Hello Victor,

If the edu-cell is by KUKA, I would just contact your local KUKA representative and ask!
Relative movements are in relation to the current position of the robot.
So let's say that the robot is currently at {X 100, Y 0, Z 50, A 0, B 0, C 0} and you do a LIN_REL {Z -90}, then after the relative linear movement the robot will be at {X 100, Y 0, Z -40, A 0, B 0, C 0}.
We do not natively support relative movements in KUKA|prc, because if you work within a CAD environment, you should always know the absolute position.
But of course I understand that relative movements are useful in cases like yours.

The basic structure seems OK, though I haven't ever used the in-line base settings like LIN BASE1:{... Are you sure that is valid KUKA syntax? But you shouldn't need the base-setting anyway, use LIN_REL instead.
Consider putting in certain limits, so that you e.g. only do a movement in X and Y if the robot is within certain bounds.
Also, after closing or opening the gripper it might make sense to put in a WAIT SEC 1 or so, currently it's only switching the gripper on for 0.2 seconds, which might not be enough time to grasp an object reliably.

Best,
Johannes

15
Support / Re: Relative movement?
« on: November 17, 2019, 10:05:50 PM »
Hello,

For such interaction, the way to go is probably the Custom KRL component. You could make a search pattern in Grasshopper and then declare an interrupt that then calls your pick up subroutine.

That being said, in my experience Grasshopper doesn't lend itself perfectly to represent such processes, so the easiest way to go might be KRL.
If you've got an edu-cell, then chances are good that it came with teaching examples etc., that should make using your included gripper and sensor easier!

Best,
Johannes




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