Messages

1

Support / Re: iiwa 7th axis algorithm?

« on: March 27, 2019, 04:49:56 PM »

It should tell you that, yes. Consider disabling the interpolation to get less values (but also a bit less simulation accuracy).
Best,
Johannes

2

Support / Re: Is there some tutorial of mxAutomation?

« on: March 25, 2019, 12:12:04 PM »

Hello,

The setup is actually pretty straightforward as KUKA provides a test program. So you can follow the KUKA instructions for the test program and then just switch to KUKA|prc.
I can then provide you more information if e.g. the modes are a bit confusing. But beyond the buffer modes, everything more or less works like in regular KRL.
Let me know if you get stuck anywhere.

Best,
Johannes

3

Support / Re: Issue about MXA.

« on: March 21, 2019, 10:27:48 PM »

It might still be on my end, unfortunately I cannot test it at the moment.
I first need to find the time to update my robots to KSS 8.5 and then to mxA 3.

Best,
Johannes

4

Support / Re: Issue about MXA.

« on: March 21, 2019, 09:18:33 AM »

Did you test it with the KUKA supplied test program? That would be a good first step.
I haven't tested it with mxA 3 yet, but was assured that mxA 3 doesn't contain any breaking changes.

Best,
Johannes

5

Support / Re: Issue about MXA.

« on: March 20, 2019, 12:49:00 PM »

Usually if the OV updates but nothing is received then the firewall is blocking the robot, i.e. your PC is sending data packages just fine but not receiving any.
Try disabling the Windows firewall on your PC!

Also, the robot should be in EXT mode and depending on the setup you might need to press the Reset input (Boolean toggle on the mxA component) a tiny bit longer.

Best,
Johannes

6

Support / Re: iiwa 7th axis algorithm?

« on: March 18, 2019, 11:31:05 PM »

Hello,

What parameters are you optimizing for? I had some success having the additional axis to face away from the target, similar to https://forum.robotsinarchitecture.org/index.php/topic,822.0.html
But of course that cannot optimize for collisions etc.
Maybe you can constrain it so that it only optimizes the positions that have problems?

All of that is very application-specific, which is why we don't have an automatic solver for it at the moment. But any ideas are welcome!

Best,
Johannes

7

General Discussion / Re: Integrating 7 axis on KR150 KRC2 ED05

« on: March 14, 2019, 06:38:15 PM »

Hello,

Actually you program a turntable process in one coordinate system and then add the rotation with the E1, so that your coordinate system rotates along with the turntable. You can still use base coordinate systems, just make sure that you calibrate them as Offset Coordinate Systems on the KUKA. On KUKA|prc it automatically assumes that offset bases are used when working with a coupled turntable.
Or did I misunderstand your question?

Best,
Johannes

8

General Discussion / Re: Gcode to Grasshopper Kuka

« on: March 14, 2019, 08:45:17 AM »

Hello,

It really is just a component where you select your G-Code and it outputs KUKA|prc commands.
But you need a full license to use it. Send me an eMail and I can provide you with a temporary license!

Best,
Johannes

9

General Discussion / Re: Gcode to Grasshopper Kuka

« on: March 13, 2019, 08:48:26 AM »

Hello,

G-Code is a super wide term but KUKA|prc in the member version contains functionality to e.g. load G-Code from 3D printing software or from the CAM module of Fusion 360.
A fully automatic conversion is usually tricky because most G-code is for 3 or 5 axis machines and doesn't contain all the geometric data need for a robot. So we usually add an extra orientation point that defines how the frame of the robot is rotated around the normal of 5-axis G-code, or the Z-axis in the case of 3-axis G-code.

Best,
Johannes

10

Support / Re: Multiple KUKAprc core components on same GH canvas

« on: March 07, 2019, 03:03:48 PM »

Hello,

Only the base number is saved by default in KUKA|prc, so you can just program it all on e.g. base 6 and then on the robot you just need to change the XYZABC values of that base, either with numeric input or the 3-point calibration.
Or you create ten different bases and put some KRL code at the beginning of the file that in a loop cycles through them. I don't think you can change the base directly while a program is running.
So if there are only small changes there is no need to go back to GH.

Best,
Johannes

11

Support / Re: Multiple KUKAprc core components on same GH canvas

« on: March 07, 2019, 01:18:52 PM »

Hello,

You should be able to have as many Core components as you like on the canvas.
The base can be set via either the BASE input or the regular KUKA|prc settings. We always assume that the Rhino origin is the base, so you cannot switch that around during the process.
I don't understand why you would stitch the KRL code together from multiple machines, but that is possible as well of course. Note that Grasshopper gets really slow when you display thousand lines of text in a panel, so only use the panel for debugging.
Try to end with an axis position that matches the first axis position of the next file, otherwise the simulation won't be reliable anymore.

Best,
Johannes

12

General Discussion / Re: Need a gripper for KUKA KR6

« on: March 06, 2019, 08:40:26 AM »

Hello,

If you are just starting out my suggestion would be to look on eBay as you can find grippers for really cheap there (also depending on where you are located). Otherwise the manufacturers will get you in touch with their local representatives.
We usually use grippers by Schunk, but there are also many other brands around.
Most grippers work with pressured air, so you will need a compressor. From there the air goes into the back of the Agilus and comes out through one of the three valves on axis 4 (6 openings closed with screws). Usually a gripper has got at least two ports: One side where the air opens the fingers and one side that closes the fingers. If it is spring loaded it might also just use a single port.

Note that a gripper comes usually without fingers - unless you order them with it. Schunk also has that eGrip design system, but basically they will just laser sinter the finger, which you could also do with custom designs: http://www.egrip.schunk.com/

Best,
Johannes

13

General Discussion / Re: Integrating 7 axis on KR150 KRC2 ED05

« on: March 05, 2019, 07:27:16 AM »

Great, thanks for the update!
My suggestion is to always first get the turntable to synchronize properly and only then to start with SRC files!
Best,
Johannes

14

Support / Re: Digital I/O Curiosities

« on: February 28, 2019, 11:06:56 PM »

Now that's an interesting catch!
In practice it shouldn't make a difference as the IOs are basically triggered at the same time, but I'll still try to find out what went wrong!

Best,
Johannes

15

Support / Re: X Y Z A B C to grasshopper plane

« on: February 22, 2019, 06:01:45 PM »

Great!