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Messages - Johannes @ Robots in Architecture

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1
Tutorials / Re: Example: KUKA LBR iiwa and Sunrise
« on: February 15, 2019, 08:25:46 PM »
Hello,

Arbeitsraumfehler would relate to the work envelope. Did you setup the tool and base in the Sunrise Workbench and then also set the right names in the code that calls the KUKA|prc library?
Also make sure that you can switch the Sunrise Workbench between degrees and radians, so the angles need to be in the right format.
Regarding the path, take a look at the PRC_FileChooser.java file, which extends the JFileChoser. You should be able to set a different default path there.

Best,
Johannes

2
Support / Re: KR C2 moving in circular motion rather than programmed path
« on: February 15, 2019, 08:21:26 PM »
Hello,

Base 17 is nothing special by itself, you need to make sure that you don't calibrate a regular Base system, but an Offset base.
For an offset base, the zero point is not the base of the robot, but the base of the turntable. So the values will be comparably small.

Best,
Johannes

3
Support / Re: KR C2 moving in circular motion rather than programmed path
« on: February 14, 2019, 08:16:21 PM »
Then I would start there, calibrating the root point and then making an offset base.
The software setup should come afterwards!

Best,
Johannes

4
General Discussion / Re: Integrating 7 axis on KR150 KRC2 ED05
« on: February 14, 2019, 07:56:09 PM »
Two cables should be fine!
Let us know if it works!

Best,
Johannes

5
Support / Re: KR C2 moving in circular motion rather than programmed path
« on: February 14, 2019, 07:53:00 PM »
Hello,

But is it synchronized? If the robot and table move nicely together and only the simulation is off, I'd rather leave the hardware as is and change the model of the turntable.

Best,
Johannes

6
General Discussion / Re: Integrating 7 axis on KR150 KRC2 ED05
« on: February 13, 2019, 07:00:05 PM »
Hello,

We've got a KRC1 (or 2, but I suspect 1) motor running on a KRC4. It doesn't move perfectly, but the positioning is fine and I've stopped troubleshooting as it's good enough for our purposes.
So I'd assume that it's possible on KRC2 as well. Do you have the relevant connections on the robot and the cabinet?
For the documentation, google for "KSS_55_external axis setup and programming".

Best,
Johannes

7
Support / Re: Simulation bug or Singularity ?
« on: February 08, 2019, 01:46:43 PM »
Hello Mark,

I'll post an update that should fix your problem within the next few minutes in the member section!
Thanks again for the heads-up!

Best,
Johannes

8
Support / Re: Simulation bug or Singularity ?
« on: February 06, 2019, 07:30:02 AM »
Hello,

Thanks for the feedback, that looks like a bug in the new preview of the V3 version. It's detecting it as a singularity because there is a large amount of axis movement in a small amount of time. However here that seems like a bug with the interpolation between the opposing planes. I'll look into it, but it will be a short while.
PTP works because it interpolates on an axis level. LIN should either take the time from the linear speed or axis speed, whatever is less. In that case LIN (and SPL) are failing because they take the time of the 0mm distance (i.e. they "jump"), rather than the X degrees rotation on the slowest axis. I haven't ever used SPL movements for just reorientation (i.e. TCP stays at the same point, while ABC change), but I guess it should work like LIN.

I appreciate the feedback, sorry for the inconvenience!

Best,
Johannes

9
Member Section / Re: What type of spindle for milling with a robot.
« on: February 05, 2019, 08:47:59 PM »
Hello,

There are no particular limits, for foam and wood we're happy with a 8kW spindle, ours is from HiTeco, many also use HSD. There are no huge differences in quality or price, I'd go with the company that seems more friendly/supportive in your country.
If the budget allows it go for a mount that allows automated tool changing like HSK or ISO. For the inverter I'd take a simple model, as the more complex ones have tons of functionality that you do not really need for milling (again, just my experience).
Finally, for cooling I usually take spindles with electric fans as there are less things that can go wrong. Water cooling is of course more silent, which may be something to consider for a demo robot.
Don't forget that in addition to the spindle (let's say 3000EUR) you need an inverter (700EUR), adapter plate to mount it on the robot, tool holders (150-300EUR each), as well as cables (can be expensive) and smaller stuff like pneumatic valves as most spindles also require pressured air for the tool changing. Ah, and you can easily spend a few hundred EUR on the holder that you need for mounting new tools in the actual tool holder.

Hope that helps a bit!
Best,
Johannes

10
Support / Re: Custom Turntable Simulation
« on: February 01, 2019, 07:24:01 AM »
Hello,

Regarding the offset system: If you place the offset system close to the root point of the turntable then VERY small numbers are totally fine.
When you calibrate an offset system, it gets saved along with the regular bases, just with an additional tag declaring it an offset base. So just use the number you chose at the beginning.
You set the root point of your turntable by right-clicking the turntable component.
The dynamic vector can be tricky at times, for those occasions you can also create your own strategy, see the attached example for defining your own rotary table strategy.

Hope that helps!
Best,
Johannes

11
Support / Re: CIRC command unable to point constantly at center
« on: January 22, 2019, 06:23:18 AM »
Hello,

I'm sorry if that was unclear, but at the moment there are no different CIRC movements supported.
We would need to integrate that specifically, which takes time.

For now what you could do is simply to split your 270 degrees circle into two 135 degrees circles, I guess then it should work as you want it., with the tip keeping the orientation towards the middle.
Personally I'm not a huge fan of either CIRC or SPL, usually I try to use properly spaced LIN commands with good interpolation parameters.

Best,
Johannes

12
Support / Re: CIRC command unable to point constantly at center
« on: January 22, 2019, 05:55:52 AM »
Hello,

Something like in the screenshot should work, but it will not be simulated.
So while it looks identical in the simulation, it will work differently on the robot - which can be dangerous.

Best,
Johannes

13
Support / Re: CIRC command unable to point constantly at center
« on: January 22, 2019, 05:41:59 AM »
Hello,

I don't really understand what you did there - you took a *.src file and embedded it into a Grasshopper program? KUKA|prc needs at least one movement component, I'll need to make sure that a single Custom KRL component triggers an error message from now on.
KUKA|prc will not simulate the contents of a Custom KRL component, it's mostly for e.g. triggering specific variables etc.
So you could make a Custom KRL component with $ORI_TYPE=#PATH but it wouldn't be simulated.

Hope that makes sense!
Best,
Johannes

14
Support / Re: CIRC command unable to point constantly at center
« on: January 21, 2019, 07:45:51 AM »
Hello,

I'm not sure how you wired that up, can you send me the file?
Please be aware that data input into Custom KRL gets written into the *.src file, but is not simulated.
And no lines should disappear...

Best,
Johannes

15
Support / Re: Kuka/PRC on a Mac
« on: January 18, 2019, 02:10:01 PM »
Hello Andreas,

I don't have a Mac to try it, but I would assume that the components might work, but the UI definitely won't.
So until we find the time to re-do the UI in a nice looking, cross platform UI library, it unfortunately won't be of much use on a Mac.

Best,
Johannes

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