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Messages - Johannes @ Robots in Architecture

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1
General Discussion / Re: KUka - work Visual
« on: November 27, 2018, 06:09:03 PM »
Hello,

You can download WorkVisual for free from here, no license is required: http://www.workvisual-download.kuka-robotics.com
And yes, you need it to configure additional hardware, install software options etc.

Best,
Johannes

2
General Discussion / Re: agilus for milling?
« on: November 23, 2018, 01:57:59 PM »
werk5 is totally right, just one remark: Don't update the entire WorkVisual project to copy new KRL files, simply use a USB stick (in Expert user group) or network file share and then copy it to your robot directory through the file brwoser.
You can add the KUKA.CNC software also afterwards, though KUKA usually gives you a better price if you buy it with the robot.
KUKA|prc can export code for both regular KRL and KUKA.CNC.

Best,
Johannes

3
General Discussion / Re: Virtual Robot for KR120 R3900 ultra K
« on: November 19, 2018, 07:48:33 AM »
Hello,

I just checked and we've only got the 3700 K at the moment. However we do integrate new robots for members, so getting it into PRC wouldn't be a problem. Also, the member version allows you to define your own robots.

Best,
Johannes

4
General Discussion / Re: agilus for milling?
« on: November 16, 2018, 03:16:40 PM »
Sounds good!
If you order a new Agilus, note that there's a new version around that looks a bit differently.
So you'll need to decide between the risk of being an early adopter and the appeal of having the most recent version ;)

Best,
Johannes

5
General Discussion / Re: agilus for milling?
« on: November 11, 2018, 05:11:36 PM »
Hello,

We did plenty of milling projects with an Agilus, though never with teak.
I'd say the limit is mostly the weight of the tool, we used a Kress 1050 spindle on it. So I'd look around on the net if anyone has used that or a similar spindle with teak.

Best,
Johannes

6
General Discussion / Re: Hot wire foam cutter
« on: November 08, 2018, 06:28:42 AM »
From my experience the wire doesn't heat up in a completely regular way - as cutting cools it down as well - and foam can also be very different. So the approach for us was mostly just to start slow and turn it up gradually.
Best,
Johannes

7
General Discussion / Re: Hot wire foam cutter
« on: November 07, 2018, 09:47:45 AM »
Hello,
Are you referring to the software part or the hardware part?
Software-wise there's an example on the forum, for integration you don't need much more than a relay to enable/disable the cutter (which you could also do by hand). I'm not sure if people really use a PID or something like that to control the temperature, we usually just set the power and kept it there during cutting. But these are things you could do with a PLC, for example.

Hardware-wise it's not much more than a wire (e.g. guitar string, if you're improvising) and a power supply. I'm not the electronics expert so I'm hesitant to give any advice there. Ours has got a welding PSU with an extra transformator.
But I've seen people use PSUs taken from PCs as well, as an example.

And you'll need a system for keeping the wire's tension, as it gets longer as it heats up.

Best,
Johannes

8
Support / Re: KUKA prc. User guide or Manuals.
« on: November 07, 2018, 09:37:20 AM »
Hello,
I've sent you an eMail!
Best,
Johannes

9
General Discussion / Re: low resolution version of robots
« on: November 06, 2018, 08:16:12 PM »
Hello,

Actually the next release of KUKA|prc already contains two different sets of meshes, one in high and one in reduced quality.
If you've got Dynamo, you could give the Dynamo release a try.
Not sure when we will release it publicly for GH - hopefully soon as I'm already using it without many issues with my students.

In the meantime the member version allows you to define Custom Robots. I don't mind providing you with the default meshes for the robots, so that you can manually reduce them via ReduceMesh in Rhino.

Best,
Johannes

10
General Discussion / Re: fronius with kuka prc
« on: November 01, 2018, 09:46:36 PM »
That's great, I'm happy that we got it to work so quickly!!
Best,
Johannes

11
General Discussion / Re: fronius with kuka prc
« on: October 31, 2018, 04:34:12 PM »
Hello Ashish.

I haven't worked with that tech package before and don't know much of the terminology that's used. Also, it's not entirely clear which variables are globally declared and which locally.
For now if you make a project with the standard kukaprc_project name, put a kukaprc_project.dat with the following content next to it:
Code: [Select]
&ACCESS RVP
&REL 1
&PARAM TEMPLATE = C:\KRC\Roboter\Template\vorgabe
&PARAM EDITMASK = *
DEFDAT kukaprc_project ( )

DECL ATBg_Weld_T AW_WDAT={JobModeId 732750510,ParamSetId -1540567493,Velocity 0.00833333377,Channel1 1.00000,Channel2 0.0,Channel3 0.0,Channel4 0.0,Channel5 0.0,Channel6 0.0,Channel7 0.0,Channel8 0.0}
DECL ATBg_Start_T AS_WDAT={JobModeId 732750510,ParamSetId -243025295,StartTime 0.0,PreFlowTime 0.100000,Channel1 1.00000,Channel2 0.0,Channel3 0.0,Channel4 0.0,Channel5 0.0,Channel6 0.0,Channel7 0.0,Channel8 0.0,PurgeTime 0.0}
DECL WTCg_WeaveDefinition_T WV_WDAT={Pattern #None,Length 0.0,Amplitude 0.0,Angle 0.0}
DECL ATBg_Crater_T AC_WDATOFF={JobModeId 732750510,ParamSetId 885173050,CraterTime 0.500000,PostflowTime 2.00000,Channel1 1.00000,Channel2 0.0,Channel3 0.0,Channel4 0.0,Channel5 0.0,Channel6 0.0,Channel7 0.0,Channel8 0.0}
ENDDAT

In KUKA|prc use the following lines with the Custom KRL component:
Code: [Select]
Arc_On(1, AS_WDAT, ATBg_StartErrSetField[1], AW_WDAT, WV_WDAT, ATBg_WeldErrSetField[1], #StdArcOn, " ")
Arc_Off(1, AC_WDATOFF)

Let's see what error messages pop up!

Best,
Johannes

12
General Discussion / Re: fronius with kuka prc
« on: October 30, 2018, 05:12:12 PM »
Hello,

ARC ON and ARC OFF seem to be inline forms, i.e. you don't see the full code.
My suggestion would be to copy your file to a USB stick and look at it on the PC.
According to that thread (https://www.robot-forum.com/robotforum/kuka-robot-forum/'value-assignment-inadmissible'-krl-using-arctech-basic/) it looks a bit like that...
$BWDSTART=FALSE
LDAT_ACT=LCPDAT4
FDAT_ACT=FP4
BAS(#CP_PARAMS, ATBg_BAS_VELDefinition)
LIN XP4
ARC_OFF(1, AC_WDAT2)

I guess LIN XP4 is a litftoff movement, so the interesting part for you is the ARC_OFF(1, AC_WDAT2) part.

Most likely if you put that into a KUKA|prc Custom KRL component, it will be missing the AC and WDAT2 variables. So take a look at the .dat file where they should be defined. No idea what they contain, but either create your own .dat file for the KUKA|prc-generated *.src file, or if WDAT and AC are always the same, define them as global variables in the $config.dat (but with different names, as not to confuse the robot).

Best,
Johannes

13
Support / Re: NC Import
« on: October 29, 2018, 06:45:04 PM »
I was more asking in general, when the next version becomes public - what would you go for?
For now it's definitely easier to revert. You can also just delete/move/rename (?) the GHA file and leave the others in the directory.

Best,
Johannes

14
Support / Re: NC Import
« on: October 29, 2018, 06:31:32 PM »
I like it too ;)
Unfortunately that's a bit tricky - the choice is either to give every component a new ID so that you can have them installed at the same time, or you give them the same ID, which means that they cannot be installed at the same time, but you can at least partially upgrade old definitions.
What do you think? I'm tending towards the latter.

Best,
Johannes

15
Support / Re: NC Import
« on: October 29, 2018, 06:13:33 PM »
Hello,

Fusion should usually be very straightforward, you just need to export the right postprocessor by right-clicking the component. Beyond that I never really had any issues. Here's an example project: https://1drv.ms/f/s!AtgYyPhhrKrMneNhFJ6yUSOacMDy6g
And in the regular PRC there should be the NC Import component (see screenshot), I just haven't brought it into the new PRC yet, which I believe you are using - the one where the robots are more accurately colored!

Best,
Johannes

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