Messages

1

Support / Re: License Error with Kuka PRC for Grasshopper

« on: September 23, 2022, 10:14:12 PM »

Hello,

I would need to know which university so that I can check if the license is still valid. You can also send me an eMail if you do not want to share the information in a public forum!

Best,
Johannes

2

Support / Re: License Error with Kuka PRC for Grasshopper

« on: September 22, 2022, 10:11:30 PM »

Hello,

Thanks for getting in touch!
Can you provide some more information on your license - are you using a member license, e.g. through your university, or were you using a Community Version?

Thanks,
Johannes

3

General Discussion / Re: Strange base coordinate movement results

« on: September 17, 2022, 09:25:53 PM »

Hello Gergely,

Hmm, so you have got your Cartesian World and Cartesian Base coordinate system.
My guess is that there was a mismatch somewhere, so you either moved the robot in Cartesian World but displayed Cartesian Base or the other way around.
Is that possible?
It usually shows the Cartesian position of the currently activated base (see towards the top of the smartPad, next to the tool number) and on the right there is the World movement (globe icon) and the Base movement (plane icon) type.

Best,
Johannes

4

Support / Re: How to add digital output for extruder on 3D Printing path?

« on: September 08, 2022, 05:42:34 PM »

Hello Luigi,

I just checked your file, it did not contain a single movement command, which confuses KUKA|prc.
I will make sure that this will result in a proper error message in the next release.
For now, just add an axis movement somewhere and it should be fine!

Best,
Johannes

5

Support / Re: How to add digital output for extruder on 3D Printing path?

« on: September 08, 2022, 04:58:25 PM »

Hello Luigi,

Can you please send me the file that is causing the exception via eMail?
Take electronics advice from me with care, but Beckhoff IO units have got many different configurations, I don't know if yours have got a separate ground port. But if you are e.g. switching an electronic gripper, then I would personally try to either power them from the same power supply or alternatively connect the grounds. But again, don't trust me with electronics

Best,
Johannes

6

Support / Re: How to add digital output for extruder on 3D Printing path?

« on: August 10, 2022, 09:02:01 AM »

Hello Luigi,

There really is no standard way. The Beckhoff module has got LEDs, so if you think that the IOs are configured, then just try out the first 30 or so and see if any LED goes on. Of course make sure that there is nothing else connected to the robot that could cause shorts or activate external machinery.
The proper way would be to start up WorkVisual, load the current project off the controller and then check how the physical and virtual IOs are mapped, or to map them yourself.
I've attached a screenshot below, in that case you can see that toggling $OUT[1] from KRL or KUKA|prc will toggle the physical output 9 on the IO module.

Best,
Johannes

7

Support / Re: KR10 X11 Diagram

« on: August 02, 2022, 07:46:25 AM »

Looks right, the X11 is a DSUB with I believe 50pins on the KRC4 compact!
You could also get a terminal block like that: https://www.amazon.com/Header-Breakout-Terminal-Connector-Module/dp/B08GLX1VPM
I don't know if type of connection conforms to all standards, but it is convenient!

Best,
Johannes

8

Support / Re: How to add digital output for extruder on 3D Printing path?

« on: July 25, 2022, 05:46:11 PM »

Hello,

There is a specific component for digital outputs in KUKA|prc, alternatively you can use the Custom KRL component to enter any command to execute.
Where you place the component in your toolpath is mostly a Grasshopper thing - there are components for inserting objects into a list, splitting lists etc. Or you can use Merge List to combine the movement with the IO commands.
Is there any particular pattern you would like to achieve?
I've attached a generic example where the extruder is only on during the toolpath, but not during the approach and retract motion.

BEst,
Johannes

9

Support / Re: Generate E5 and E6 External Axes Values

« on: July 18, 2022, 05:46:21 PM »

Thank you for the update, to be honest I did not know that setting all external axes was required, so that's valuable information!
What are six axes driving, unless that is confidential?

Best,
Johannes

10

Support / Re: Generate E5 and E6 External Axes Values

« on: July 18, 2022, 05:19:29 PM »

Hello Mark,

Do you need to set all of your 6 external axes, or is it enough to set 4 external axes from the Grasshopper code?
If it's just about getting the code to run, you could go into the KUKA|prc settings, Advanced, Code and tick the box to use a custom code pattern.
Above [STARTAXPOS] add the following line:

Code: [Select]

PTP  {E1 0,E2 0,E3 0,E4 0,E5 0,E6 0}If that does not help, also add the A1-A6 values for the start position - just note that it's then hardcoded and no longer uses the values from the UI - these values are used within [STARTAXPOS]

Best,
Johannes

11

Support / Re: Issues when optimizing tool path and plane orientation

« on: July 11, 2022, 08:51:19 PM »

Hello,

Unfortunately I cannot really read anything out of the screenshots, maybe you could attach two files to compare?
There is one bug with the command sequence, you could run the "Solution Recompute" (hotkey F5) and see if the result changes. That will be fixed in the next release, though.

Best,
Johannes

12

Support / Re: Calibrating KP1-V500 with KUKA|prc

« on: July 08, 2022, 01:17:20 PM »

Hello Alex,

But why would you expect the A value to stay the same? Note that your base (as it's an offset base) is rotating and the tool is staying at a similar position in space, so the A value needs to change in order to compensate.
If you look at the code, adding A and E1 is always somewhere between -30 and -50 (in my version, I had to do some changes due to different components).
Further down it becomes -400, which is just negative -360 -40, so basically the same.
In your screenshot the added value is closer to 0.

If your robot is behaving differently, most likely it's not using an offset base that is rotating.

Best,
Johannes

13

Support / Re: Issues when optimizing tool path and plane orientation

« on: July 04, 2022, 06:43:04 AM »

Hello,

Sorry for the very late reply, I somehow missed your post!
Regarding your post, the challenge is that while the robot can individually reach every position, A6 winds itself up.
There is no immediate, easy fix as it you are covering a large range of movement.
I would approach that from the order of movements, because if you are e.g. continuously incrementing A6 (you see the A6 value go up from 20 to 600 which is out of range), you could instead set the start position to -340 degrees, then the 600 degrees before would be 260, which is inside the range of the robot.
Or instead try to arrange that so that every movement with a "positive" effect on A6 is followed by a "negative" movement.

The "ultimate" solution would be to simply set the A6 to infinite rotation, which is possible, however you run a high risk of damaging the cables of your endeffector if you wind it up too much. I generally try to avoid that for "powered" tools.

Best,
Johannes

14

Support / Re: rhinoCam PostProcessor

« on: June 28, 2022, 06:34:43 AM »

Hello,

Technically it shouldn't be a problem, though you might need to change/adjust some postprocessor options so that it fits what KUKA|prc expects.
I can provide you with a temporary license if you want to give it a try! Ideally send me an eMail to johannes@robotsinarchitecture.org

Best,
Johannes

15

Support / Re: Continue Function on Analogue Output

« on: June 24, 2022, 09:52:33 AM »

Good Morning,

Thank you for the feedback, it seems as if in more than 10 years nobody used that combination - so that's definitely a bug, probably caused by me by copy/pasting code from the digital output component.
Unlike $OUT_C there is no $ANOUT_C so I have removed that input for future releases. As you wrote, the proper way would be to use a Custom KRL component with "CONTINUE" before your analogue output in order to get the desired effect.

Best,
Johannes