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Messages - Johannes @ Robots in Architecture

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1
Support / Re: Synchronizing the Physical and Virtual Robot for an Accurate KUKA|prc Simulation
« on: October 27, 2020, 07:57:57 AM »
Hello Victor,

I don't know if we will push this out publicly, but if you want to try it yourself, just look into the CORE_RUN method.
One if its constructors is the object xmlout.
You should be able to access the tool values as a Frame object via xmlout.prcsettings.inittool and can then just set your TCP accordingly.
I'm not sure if we do the transformation from degrees to radians and cannot test it right now, so take a look at the XML file first.

Best,
Johannes

2
Support / Re: Synchronizing the Physical and Virtual Robot for an Accurate KUKA|prc Simulation
« on: October 23, 2020, 09:37:51 AM »
Hello Victor,

Would that be useful to you? This is something that we might need for another project and shouldn't be a huge effort to integrate.
I can't give you an exact ETA, though.

Best,
Johannes

3
General Discussion / Re: Mechanical engineering jobs in robotics
« on: October 19, 2020, 04:54:27 PM »
Hello,

I believe that is unfortunately not the ideal community to ask those questions as many people here are from different fields.
Maybe a relevant subreddit on robotics might be a better fit to get a good advice for your further career!

Best,
Johannes

4
Tutorials / Re: Example: Custom Turntable Strategy
« on: October 16, 2020, 10:29:41 AM »
Hello Nicholas,

FYI it was the labeling and it will be fixed in the next release, probably later today!
Thanks for letting me know!

Best,
Johannes


5
Support / Re: "Spinning" Axis "Endlessly"
« on: September 30, 2020, 09:01:52 AM »
Hmm.. It seems that values >= 360 are only possible for linear axes.
You could try setting A4 as a linear axis type, though I'm not sure how/if that will affect the kinematics... Be careful and only do it in T1.

Best,
Johannes

6
Support / Re: "Spinning" Axis "Endlessly"
« on: September 29, 2020, 09:44:11 PM »
C_PTP makes the robot blend the movement, it can be parametrized through a variable at which point the robot leaves the toolpath to achieve a smooth motion. Note that it will then not exactly move through the programmed point but may take a "shortcut". In order to be able to blend movements, the robot needs to look into the "future", i.e. a few lines ahead in the code. CONTINUE allows the robot to move through the loop, rather than waiting for the robot to catch up. CONTINUE does not work for all logic types, I cannot promise 100% that it works with a FOR loop.
And regarding the other question, it depends how your axis is set up. If you give A4 simply very high limits, then you would get 100 rotations. If you set it to infinite rotation, then it won't move at all because for infinite rotation, 0 degrees, 360 degrees, 3600 degrees etc. are identical.

Best,
Johannes

7
Support / Re: "Spinning" Axis "Endlessly"
« on: September 24, 2020, 08:47:48 PM »
You could try to modify the code as follows to get a continuous motion:

FOR Counter=1 TO 20 STEP 1
   PTP_REL {A4 360} C_PTP
   CONTINUE
ENDFOR

However I cannot think of an easy way to get an axis to rotate with continuous speed "in the background" if that is what you are going for,

Best,
Johannes

8
Tutorials / Re: Example: Custom Turntable Strategy
« on: September 24, 2020, 08:36:40 PM »
Great, let's do that!

Best,
Johannes

9
Tutorials / Re: Example: Custom Turntable Strategy
« on: September 23, 2020, 09:35:00 PM »
Hello Nicholas,

If you opened an old file, try putting in the component again. Sometimes Grasshopper keeps the old labels, even if something new is now behind them.
Of course it might also be a bug, unfortunately I cannot check it myself until next week when I'm back in the office.

Best,
Johannes

10
Support / Re: IIWA SendKeepAliveMessage Failed
« on: September 11, 2020, 08:59:59 AM »
I thought about it a bit more, it's probably best if you just attach a screen to the DVI port and see if there is any error message on the Windows side.
While the smartPad is connected, you will only see the login screen, but you can login as kukauser with password 68kuka1secpw59 - note that if you do that with the smartPad connected, it will kick out the smartPad instead.

Best,
Johannes

11
Support / Re: IIWA SendKeepAliveMessage Failed
« on: September 07, 2020, 07:36:16 AM »
Hello Victor,

If it kicks you out of the iiwa GUI to the screen in the screenshot, probably the entire Windows system crashed.
So unfortunately the SendKeepAliveMessage is most likely the result of the crash but not the cause. Maybe you could log to a file, to understand where/when it crashes?
Personally my guess is that there are some conflicting IO operations. As your code for the file access is probably generic Java, you could try running it on your PC and see if it also crashes there. That should make it more easy to troubleshoot.

Best,
Johannes

12
Support / Re: PRC / Sunrise error
« on: September 01, 2020, 07:11:03 AM »
Can you set a breakpoint and check which item is null? It might be the robot, tool list of commands or the individual command.

Thanks!
Johannes

13
Support / Re: PRC / Sunrise error
« on: August 31, 2020, 07:26:53 AM »
Good Morning,

Take a look at line 369 of Core_Run and see what is going on there, maybe set a breakpoint shortly before and then step through the code. It's hard to troubleshoot from afar as I don't know your code and how the library may have been modified (i.e. if your line 369 is the same as my line 369). In any case, some element that shouldn't be null is null.

Best,
Johannes

14
General Discussion / Re: Python custom GUI component add-on to KUKA|prc?
« on: August 10, 2020, 06:44:11 PM »
Hello Nicholas,

Yes, KUKA|prc is written in C# and you could actually also run it without Grasshopper in a standalone app, we used it e.g. within Unity.

Best,
Johannes

15
General Discussion / Re: Python custom GUI component add-on to KUKA|prc?
« on: August 10, 2020, 05:41:41 PM »
Hello Nicholas,

Now this is not the "clean" solution by far, but just to get started, how about you make the GUI with a nice GUI library - no matter if IronPython, Python, or something else - and save the data from the GUI in a text file, that you observe from Grasshopper? So whenever that text file changes, Grasshopper updates.

The KUKA|prc GUI is done using WPF, which you can also design in a graphic editor within Visual Studio, so that is of course also an option.

Best,
Johannes

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