1
Tutorials / Re: Calibrating External Kinematics - DKP 400 Turntable with 2 Axis
« on: July 09, 2020, 11:35:01 AM »
Thanks a lot for sharing!
Best,
Johannes
Best,
Johannes
Robotic Fabrication in Architecture, Art, and Design
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2
General Discussion / Re: how to setup MXA module in PRC
« on: July 09, 2020, 11:17:35 AM »
Hello,
If you got the KUKA software to work, most of the work is done.
The problem is most likely related to the mxA version - KUKA|prc should present you with an error number if it doesn't work, which you can look up in the manual.
If you let me know the exact version number of your mxA, I can send you a specific build that uses your version of the library.
The physical IP only applies when you are running mxA on a virtual robot controller. Unless you are using multiple robots, leave the ID at 1.
Best,
Johannes
If you got the KUKA software to work, most of the work is done.
The problem is most likely related to the mxA version - KUKA|prc should present you with an error number if it doesn't work, which you can look up in the manual.
If you let me know the exact version number of your mxA, I can send you a specific build that uses your version of the library.
The physical IP only applies when you are running mxA on a virtual robot controller. Unless you are using multiple robots, leave the ID at 1.
Best,
Johannes
3
General Discussion / Re: [Misc] How to simplify mesh
« on: July 06, 2020, 07:48:33 AM »
Hello Victor,
There are various approaches. For some models I used the Rhino command ReduceMesh.
Simplygon is free and can be nicely automated, so I also used it for a few models: https://www.simplygon.com/
And finally I played around with the demo version of Moi3D (http://moi3d.com/), which generates pretty nice quad meshes out of NURBS - it wasn't significant enough for me to buy the software, though.
I'd say the reduced meshes are 60% Rhino, 35% Simplygon and 5% Moi3d experiments.
Hope that helps!
Best,
Johannes
There are various approaches. For some models I used the Rhino command ReduceMesh.
Simplygon is free and can be nicely automated, so I also used it for a few models: https://www.simplygon.com/
And finally I played around with the demo version of Moi3D (http://moi3d.com/), which generates pretty nice quad meshes out of NURBS - it wasn't significant enough for me to buy the software, though.
I'd say the reduced meshes are 60% Rhino, 35% Simplygon and 5% Moi3d experiments.
Hope that helps!
Best,
Johannes
4
Support / Re: Many movement points woven with functions - optimization
« on: June 08, 2020, 09:15:03 AM »
Great! Thanks for the feedback!
Best,
Johannes
Best,
Johannes
5
Support / Re: Many movement points woven with functions - optimization
« on: June 02, 2020, 02:27:33 PM »
Hello,
Great!
Regarding the Group question, I can see that keeping the tree structure would be convenient. That was mostly an omission by myself, but quick to fix. I'll send you a link to test via PM.
The Custom KRL component works on an "item" basis, so it should reliably keep its path. Have you come across any problems? I would recommend using multiline strings, maybe that is causing problems?
That doesn't change the behavior towards Null items, though. Null items cause problems, so they are usually filtered out. If you want to use a placeholder, I'd suggest something else.
Best,
Johannes
Great!
Regarding the Group question, I can see that keeping the tree structure would be convenient. That was mostly an omission by myself, but quick to fix. I'll send you a link to test via PM.
The Custom KRL component works on an "item" basis, so it should reliably keep its path. Have you come across any problems? I would recommend using multiline strings, maybe that is causing problems?
That doesn't change the behavior towards Null items, though. Null items cause problems, so they are usually filtered out. If you want to use a placeholder, I'd suggest something else.
Best,
Johannes
6
General Discussion / Re: About a workflow that allows user automatically generate robot control files
« on: June 02, 2020, 11:30:58 AM »
Excellent!
Best,
Johannes
Best,
Johannes
7
Support / Re: sunrise communicator - axis and pos outputs nothing
« on: May 31, 2020, 09:24:36 PM »
Hello Victor,
For troubleshooting I would recommend Packet Sender, it works fine for us: https://packetsender.com/download
You can run it on your PC and set it to the receiving socket.
Just make sure that no other software like Rhino is running on the same socket. You could also launch the portable version on the Windows side of the Sunrise controller to test the sending of data.
As Sunrise users usually want to create very individual systems, we provide the full Java code. If you look at the UDPReceiver.java file in threads you can see the supported functions and can debug them, set breakpoints etc. LIN should work.
Regarding the ports, 30001 should actually work. If it doesn't, also when using Packet Sender, I would contact KUKA directly. I don't remember where that configuration file exactly was, it's just too long ago, sorry...
Best,
Johannes
For troubleshooting I would recommend Packet Sender, it works fine for us: https://packetsender.com/download
You can run it on your PC and set it to the receiving socket.
Just make sure that no other software like Rhino is running on the same socket. You could also launch the portable version on the Windows side of the Sunrise controller to test the sending of data.
As Sunrise users usually want to create very individual systems, we provide the full Java code. If you look at the UDPReceiver.java file in threads you can see the supported functions and can debug them, set breakpoints etc. LIN should work.
Regarding the ports, 30001 should actually work. If it doesn't, also when using Packet Sender, I would contact KUKA directly. I don't remember where that configuration file exactly was, it's just too long ago, sorry...
Best,
Johannes
8
General Discussion / Re: About a workflow that allows user automatically generate robot control files
« on: May 31, 2020, 09:05:18 PM »
Hello,
Those are pretty old files, I'll need to look at my backups for them. A very similar process for a different geometry is used in the attached file, does that also help?
Best,
Johannes
Those are pretty old files, I'll need to look at my backups for them. A very similar process for a different geometry is used in the attached file, does that also help?
Best,
Johannes
9
Support / Re: sunrise communicator - axis and pos outputs nothing
« on: May 26, 2020, 03:54:09 PM »
Hello Victor,
Did you unblock the port in the configuration file? That's another possible issue. By default, only ports 30000 to 30010 are open to the outside, see 15.5 in the Sunrise documentation.
Best,
Johannes
Did you unblock the port in the configuration file? That's another possible issue. By default, only ports 30000 to 30010 are open to the outside, see 15.5 in the Sunrise documentation.
Best,
Johannes
10
Support / Re: Many movement points woven with functions - optimization
« on: May 25, 2020, 04:34:44 PM »
Hello,
Yes, KUKA|prc only optimizes uninterrupted lists of movements, a Custom-KRL in-between will not allow it to reduce the toolpath.
A simple workaround would be to simply replace every "C_DIS" with
"C_DIS
CONTINUE
g1()"
You could do this either in another software, or output the KRL code via the Analysis component and do it in Grasshopper.
You can run stuff in the background, the so-called submit interpreter, which you also mentioned. Unless you have got a very new KSS 8.5 controller or a special techpackage, you can only run one instance of it, usually the sps.sub file. However it is recommended to never put movement-related commands in there. Note that the submit interpreter is running at the robot's cycle time. So if you are actually sending commands (e.g. via the serial port) that may be too much data for the receiving PC. Consider counting up with a variable to reduce the amount of data sent.
Best,
Johannes
Yes, KUKA|prc only optimizes uninterrupted lists of movements, a Custom-KRL in-between will not allow it to reduce the toolpath.
A simple workaround would be to simply replace every "C_DIS" with
"C_DIS
CONTINUE
g1()"
You could do this either in another software, or output the KRL code via the Analysis component and do it in Grasshopper.
You can run stuff in the background, the so-called submit interpreter, which you also mentioned. Unless you have got a very new KSS 8.5 controller or a special techpackage, you can only run one instance of it, usually the sps.sub file. However it is recommended to never put movement-related commands in there. Note that the submit interpreter is running at the robot's cycle time. So if you are actually sending commands (e.g. via the serial port) that may be too much data for the receiving PC. Consider counting up with a variable to reduce the amount of data sent.
Best,
Johannes
11
Support / Re: sunrise communicator - axis and pos outputs nothing
« on: May 25, 2020, 11:23:55 AM »
Hello,
Usually when you are not receiving data, your firewall is blocking it. Have you tried to temporarily disable it?
You could also check on the Sunrise side if it's sending anything, via a breakpoint in the relevant thread.
Best,
Johannes
Usually when you are not receiving data, your firewall is blocking it. Have you tried to temporarily disable it?
You could also check on the Sunrise side if it's sending anything, via a breakpoint in the relevant thread.
Best,
Johannes
12
Support / Re: sunrise communicator - axis and pos outputs nothing
« on: May 22, 2020, 01:59:33 PM »
Hello Victor,
I'm not at my main PC at the moment, but if I remember correctly then the Communicator needs a Grasshopper Timer to output data. Please give it a try!
Regarding the exception, it's probably not properly closing the socket when the program exits. If that is causing problems the next time you start the program, it needs to be fixed, otherwise it's more cosmetic for now.
Best,
Johannes
I'm not at my main PC at the moment, but if I remember correctly then the Communicator needs a Grasshopper Timer to output data. Please give it a try!
Regarding the exception, it's probably not properly closing the socket when the program exits. If that is causing problems the next time you start the program, it needs to be fixed, otherwise it's more cosmetic for now.
Best,
Johannes
13
Support / Re: Unexpected collision detected
« on: May 19, 2020, 01:03:47 PM »
Hello,
Thank you for reporting the problem, I think that I've identified the issueand fixed it in the most recent member version: https://forum.robotsinarchitecture.org/index.php/topic,1117.0.html
I've just uploaded the file a few minutes ago.
Best,
Johannes
Thank you for reporting the problem, I think that I've identified the issueand fixed it in the most recent member version: https://forum.robotsinarchitecture.org/index.php/topic,1117.0.html
I've just uploaded the file a few minutes ago.
Best,
Johannes
14
General Discussion / Re: KR200 Gear Ratio
« on: May 18, 2020, 09:14:17 PM »
That's great! All the best,
Johannes
Johannes
15
General Discussion / Re: KR200 Gear Ratio
« on: May 18, 2020, 03:05:04 PM »
Hello,
You should be able to get the machine data from KUKA if you provide them with your robot's serial number.
Best,
Johannes
You should be able to get the machine data from KUKA if you provide them with your robot's serial number.
Best,
Johannes