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Messages - Johannes @ Robots in Architecture

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1
Support / Re: Can not play paste 1M line program to kuka krc4
« on: July 13, 2021, 07:35:30 AM »
Hello Settawat,

The total program memory on the KUKA is limited, it does not matter whether that is taken up by one file or multiple smaller files, unfortunately.

Best,
Johannes

2
Good Morning,

The tricky thing about this is the data flow in Grasshopper. Let's say you query your digital inputs every 100ms, it means that Grasshopper also creates a new toolpath every 100ms.
In default mode, every time you get a new set of movement commands, the robot starts from the beginning. In iterative mode it waits until it has finished it current set of commands before it moves to the next one, and in queue mode it just queues up commands (which would be a bad idea with a new toolpath 10 times per second).
Only if the toolpaths are identical it will skip them (the definition of "identical" in Grasshopper is sometimes tricky, though).

What I would test is to create a conditional statement (e.g. via Dispatch) in Grasshopper so that depending on your input you either send position B, a wait command, or position C and set the mxA mode to iterative.

Best,
Johannes


3
General Discussion / Re: Milling
« on: July 09, 2021, 08:41:16 AM »
Here is a milling example from a workshop we did a while back.
It contains German labels, so you might need to use Google Translate a bit, but it should be relatively straightforward.

Best,
Johannes

4
Hello,

That very much depends onto your application. For example if you want to take elements with a gripper, the orient point isn't much help because you need to pick up and place an object at a specific position.
However if you are doing a process that uses a symmetrical tool - e.g. milling, drawing, sometimes also 3D printing or welding - then you can use the rotation around the tool axis as a degree of freedom that allows you to optimize reachability.
We have experienced the Orient Plane to be useful for that, but as with all things involving programming, there are countless ways to achieve something.

Best,
Johannes

5
General Discussion / Re: KR 250 2700-2 and more
« on: July 02, 2021, 11:18:02 AM »
Hello Raf,

Excellent! Can you please send me an eMail to johannes@robotsinarchitecture.org?

Thanks!
Johannes

6
General Discussion / Re: Milling
« on: July 01, 2021, 09:26:13 AM »
Unfortunately there is no easy way to do that. Programming-wise creating the section curves as you did and then offsetting them to start from the outside and then move inside is the most straightforward approach, but then you more or less need a turntable (or mount the head on the robot and keep the spindle stationary). Without a turntable, you could create several indexed 3-axis roughening and finishing processes (e.g. in Fusion) and then load them into KUKA|prc. That feature is only available to members, though.

Best,
Johannes

7
General Discussion / Re: KR 250 2700-2 and more
« on: June 28, 2021, 07:29:55 AM »
Hello,

The Quantec-2 and Iontec robots are available in the member version at the moment, once we update the community version it will be included there as well.
Support for mxAutomation will stay a feature of the member version, though. Whether you need a commercial license or a (cheaper) regular or student membership then depends on your use-case.
In either case, we're happy to provide you with a temporary license, if needed.

Best,
Johannes

8
Support / Re: Can not play paste 1M line program to kuka krc4
« on: June 25, 2021, 02:31:43 PM »
I noticed that you manually renamed the to Master_Sword200.src while it was generated as kukaprc_project.src. So that may be causing problems.
But even if that accounts for one problem, you still will not be able to run an 80MB file on the robot without extra software, unfortunately...
They have got a free trial and it worked well for a colleague: https://www.orangeapps.de/?lng=en&page=apps%2Fpointloader

Best,
Johannes

9
Support / Re: Can not play paste 1M line program to kuka krc4
« on: June 25, 2021, 07:27:11 AM »
KUKA|prc allows file splitting, however you would still have to copy every file onto the controller, running into the same memory limitation.
In order to split it into completely separate files, take a look at the attached file. Of course it depends onto your process whether you can just stop and resume at some point.
To run files of any size, you could use KUKA.CNC (quite expensive) or external tools like OrangeTools Pointloader (which worked fine for colleagues and is not that expensive), or stream toolpaths via interfaces such as mxAutomation.
I would strongly recommend against playing with the memory settings on the KUKA to accommodate larger files, at least without having a proper backup.

Best,
Johannes

10
General Discussion / Info for Members regarding Springer Access
« on: June 14, 2021, 12:07:26 PM »
Dear members of the Association for Robots in Architecture,

I just noticed that the links in the member section that redirect to Springer did not work correctly anymore, as they prompted you to buy the book.
We have now fixed the issue with Springer, if you click the link in the protected member section, Springer will offer you the Rob|Arch eBooks and the Construction Robotics Journal as a free download. If it doesn't work, try clearing your cache or going there in incognito mode.

Book and journal links are here: https://forum.robotsinarchitecture.org/index.php/board,6.0.html

Happy reading!
Best,
Johannes

11
LIN is probably going through or close to a singularity. This is why KUKA|prc by default duplicates the first position and turns it into a PTP.
Best,
Johannes

12
Hello,

If you look at the error message, it says that it couldn't go to the first position due to a limit at A6. Maybe using a PTP movement first could help here.
As with other KUKA robots, make sure that your tool and base settings match as to ensure a correct simulation.

Best,
Johannes

13
Support / Re: KUKA_IIWA_both model have same TCP
« on: June 11, 2021, 09:36:23 AM »
Hello,

Ouch, there was a copy/past error and so far I've only ever used the R820.
I've fixed it, will send you the new release via eMail in a bit.
Thanks for letting me know.

Best,
Johannes

14
Support / Re: Digital Output - KUKA | prc
« on: June 11, 2021, 08:20:12 AM »
Have you tried not setting a value for the TOOL input?

Best,
Johannes

15
Excellent, I'm glad that it worked out!
Best,
Johannes

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