1
Support / Re: Issue about MXA.
« on: June 18, 2019, 04:21:13 PM »
Hello,
What issue are you having?
Best,
Johannes
What issue are you having?
Best,
Johannes
Robotic Fabrication in Architecture, Art, and Design
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2
Support / Re: NEW ROBOT IN KUKA PRC / MODEL KR3 R540 AGILUS
« on: June 17, 2019, 08:01:55 AM »
Hello,
If you are a member, you can add custom robot models. But you are in luck, because just this Friday we posted the first public release of the new version of KUKA|prc, which ships with the KR3 included.
So just download the most recent version again and you should be fine!
Best,
Johannes
If you are a member, you can add custom robot models. But you are in luck, because just this Friday we posted the first public release of the new version of KUKA|prc, which ships with the KR3 included.
So just download the most recent version again and you should be fine!
Best,
Johannes
3
General Discussion / Re: sharing network directory
« on: June 17, 2019, 07:49:25 AM »
Hello,
Basically that shouldn't be robot-specific, so you can just google for "Windows 95 network share".
Regarding your screenshot, the actual Ethernet adapter (no VXworks/VXWin etc. in the name) should have the "File and printer sharing for Windows networks" option. You may try to install it with the "Add" button. Consider making a complete backup before doing any changes to the network adapters.
If I remember correctly, its IP address must not be in the 192.168... range.
Also, both controller and PC need to be in the same Workgroup.
Best,
Johannes
Basically that shouldn't be robot-specific, so you can just google for "Windows 95 network share".
Regarding your screenshot, the actual Ethernet adapter (no VXworks/VXWin etc. in the name) should have the "File and printer sharing for Windows networks" option. You may try to install it with the "Add" button. Consider making a complete backup before doing any changes to the network adapters.
If I remember correctly, its IP address must not be in the 192.168... range.
Also, both controller and PC need to be in the same Workgroup.
Best,
Johannes
4
General Discussion / Re: Is it possible to use rotary table with the PRC???
« on: June 14, 2019, 12:30:57 PM »
Sure, turntables and rotary tables are just different terms for the same thing!
5
Support / Re: Kuka/PRC on a Mac
« on: June 13, 2019, 12:48:54 PM »
Sure, I'll send you a link via direct message in a minute!
Thanks!
Thanks!
6
Support / Re: sim problem: PRC component red at specific points during the sim
« on: June 11, 2019, 04:49:05 PM »
Hello Rodrigo,
Please give the most recent member release a try: https://forum.robotsinarchitecture.org/index.php/topic,973.msg2704.htm (only accessible for RiA members)
It now looked fine to me!
Best,
Johannes
Please give the most recent member release a try: https://forum.robotsinarchitecture.org/index.php/topic,973.msg2704.htm (only accessible for RiA members)
It now looked fine to me!
Best,
Johannes
7
Support / Re: Error during ECat stack initialization?
« on: June 10, 2019, 04:00:04 PM »
Hello,
Hmm... I think with an EtherCAT error you can move the robot in T1 but not in AUT.
Can you check if there is an EK1100 inside the controller, and if so if the lights are on when the controller is running? If not, you need to make the 2-cable bridge I mentioned in the other post to provide it with power.
Or if the robot was used by someone else before, then there might be a difference between the configuration and the actual robot. Load the current WorkVisual project from the controller and check if something shows up on the X44 that is not there in reality.
Best,
Johannes
Hmm... I think with an EtherCAT error you can move the robot in T1 but not in AUT.
Can you check if there is an EK1100 inside the controller, and if so if the lights are on when the controller is running? If not, you need to make the 2-cable bridge I mentioned in the other post to provide it with power.
Or if the robot was used by someone else before, then there might be a difference between the configuration and the actual robot. Load the current WorkVisual project from the controller and check if something shows up on the X44 that is not there in reality.
Best,
Johannes
8
Support / Re: KR10 X11 Diagram
« on: June 06, 2019, 07:52:19 AM »
Usually, unless they were treated a bit roughly, they should not need to be mastered. It's still recommended, of course.
To move the robot without the X11, go into a usergroup >= Expert and then activate the Start-Up mode. I believe it's in Startup/Service (but no promises, I'm not at the robot at the moment).
In startup mode you can only operate the robot in T1, i.e. you need to keep the button on the back pressed, even for programs, and the speed is limited.
If there is a plastic bag with 4 blue wires included, you may also need to build that plug, which provides power to the internal Beckhoff EK1100 coupler. You just connect the internal power supply with the internal power connection, unless you want an external 24V power supply. I'm at the airport right now so I cannot give you the X-something ID of the plug - I believe it's X55, though.
Finally, if you are doing the startup yourself, don't forget to plug in the battery. Inside the cabinet there will be one loose cable, which will fortunately only fits into a single plug next to it.
Best,
Johannes
To move the robot without the X11, go into a usergroup >= Expert and then activate the Start-Up mode. I believe it's in Startup/Service (but no promises, I'm not at the robot at the moment).
In startup mode you can only operate the robot in T1, i.e. you need to keep the button on the back pressed, even for programs, and the speed is limited.
If there is a plastic bag with 4 blue wires included, you may also need to build that plug, which provides power to the internal Beckhoff EK1100 coupler. You just connect the internal power supply with the internal power connection, unless you want an external 24V power supply. I'm at the airport right now so I cannot give you the X-something ID of the plug - I believe it's X55, though.
Finally, if you are doing the startup yourself, don't forget to plug in the battery. Inside the cabinet there will be one loose cable, which will fortunately only fits into a single plug next to it.
Best,
Johannes
9
Support / Re: sim problem: PRC component red at specific points during the sim
« on: June 06, 2019, 07:42:08 AM »
Hello Rodrigo,
Thanks for giving it a try! I'll look into it in-depth tomorrow once I'm back from my travels!
Best,
Johannes
Thanks for giving it a try! I'll look into it in-depth tomorrow once I'm back from my travels!
Best,
Johannes
10
Support / Re: sim problem: PRC component red at specific points during the sim
« on: June 05, 2019, 07:44:59 PM »
Hello Rodrigo,
Thanks for the info, I'll look into that once I'm back in Austria.
The problem seems to be caused by the Tool Offset component, can you program that movement by yourself via Plane Offset, maybe?
That should solve it for now!
Best,
Johannes
Thanks for the info, I'll look into that once I'm back in Austria.
The problem seems to be caused by the Tool Offset component, can you program that movement by yourself via Plane Offset, maybe?
That should solve it for now!
Best,
Johannes
11
Support / Re: KR10 X11 Diagram
« on: June 05, 2019, 07:35:56 PM »
That looks right, is it working?
If so, thanks for sharing!
If so, thanks for sharing!
12
Support / Re: Kuka/PRC on a Mac
« on: June 05, 2019, 06:40:19 PM »
Hello Ghali,
Maybe I manage to have time over summer to integrate that, but so far I unfortunately do not have any news for you.
Just out of curiosity, if you try to run it on Mac, does anything show up?
Best,
Johannes
Maybe I manage to have time over summer to integrate that, but so far I unfortunately do not have any news for you.
Just out of curiosity, if you try to run it on Mac, does anything show up?
Best,
Johannes
13
General Discussion / Re: Kuka robot arm milling help
« on: June 04, 2019, 03:58:13 PM »
Hello,
Sorry, I cannot give you a highly technical reply as I haven't worked directly with those materials much. I've seen a company use KR500 robots with >30kW milling spindles, but a KR210 would probably also work, just slower. 9kW seem not very much to me, but I would check with the spindle manufacturer. For them it doesn't matter if the spindle is mounted to a CNC machine or robotic arm.
If you only want to do milling, get a milling software like PowerMill (with PowerRobot), SprutCAM, etc.
Best,
Johannes
Sorry, I cannot give you a highly technical reply as I haven't worked directly with those materials much. I've seen a company use KR500 robots with >30kW milling spindles, but a KR210 would probably also work, just slower. 9kW seem not very much to me, but I would check with the spindle manufacturer. For them it doesn't matter if the spindle is mounted to a CNC machine or robotic arm.
If you only want to do milling, get a milling software like PowerMill (with PowerRobot), SprutCAM, etc.
Best,
Johannes
14
General Discussion / Re: Is it possible to use rotary table with the PRC???
« on: May 31, 2019, 11:40:26 AM »
Hello,
We've been supporting turntables and external axes for quite some time, PRC even works with the KMR iiwa platform.
Currently the maximum is 4 external axes.
We can provide you with a temporary license so that you can evaluate those features,
Best,
Johannes
We've been supporting turntables and external axes for quite some time, PRC even works with the KMR iiwa platform.
Currently the maximum is 4 external axes.
We can provide you with a temporary license so that you can evaluate those features,
Best,
Johannes
15
Support / Re: Unwanted Axis Rotation
« on: May 29, 2019, 09:36:01 PM »
Hello,
There is no proper way to lock the axis, but in very general terms you want to avoid A5 being close to zero, i.e. the robot being "stretched".
In your project you would have a few options, like e.g. raising the element by ~500mm, tilting it, or using a tool that is not normal to the flange.
PTP movements are also not subject to singularities, but for punching you probably want linear movements.
Hope that helps!
Best,
Johannes
There is no proper way to lock the axis, but in very general terms you want to avoid A5 being close to zero, i.e. the robot being "stretched".
In your project you would have a few options, like e.g. raising the element by ~500mm, tilting it, or using a tool that is not normal to the flange.
PTP movements are also not subject to singularities, but for punching you probably want linear movements.
Hope that helps!
Best,
Johannes