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Messages - Johannes @ Robots in Architecture

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1
General Discussion / Re: Information on KUKA tool?
« on: Today at 11:52:13 AM »
Hello,

Please take a look at that recent post of mine which addresses a similar question: https://forum.robotsinarchitecture.org/index.php/topic,925.msg3374.html#msg3374
So yes, unfortunately you will most likely have to build adapter plates yourself - or pay someone to do that for you.
For industrial equipment there are not many online shops, the usual way is to contact the manufacturer who will then connect you with their sales department or a local distributor.
A good way is to look on places like eBay as there is often used industrial equipment at very low prices.

Best,
Johannes

2
Hello Michael,

Today's PRC release reintroduces that option!

Best,
Johannes

3
Awesome, glad that it worked!

Best,
Johannes

4
Hello Michael,

Now that is super interesting to hear. I will definitely put the feature back in for the next release!
Sorry for the inconvenience!

Best,
Johannes

5
Hello Jon,

I would also get rid of the "throws SocketException" part and the socket object - unless you need socket communication. Don't forget to define your mediaFlange object where previously the socket was defined.
The naming of the IOs is not really standardized, but you should be able to do something like mediaFlange.SetOutput1(true)

Code: [Select]
public void run() {
        running = true;
        while (running) {
            mediaFlange.SetOutput1(true)
        }
    }
I haven't worked with Sunrise in quite a while, but Sunrise Workbench should suggest the possible options anyway.
The code above would constantly set your output 1 to true, which is not terribly exciting.
Best,
Johannes

6
General Discussion / Re: Information on KUKA tool?
« on: April 13, 2021, 04:37:53 PM »
Hello,

What do you mean by KUKA tool? A tool for a KUKA robot like a gripper?

Best,
Johannes

7
Hello Jon,
Attached is a thread example, the following snippet passes a reference of the BlockingQueue to the thread:
Code: [Select]
public UDPReceiver(BlockingQueue<PRC_CommandData> UDPInput) throws SocketException {
        socket = new DatagramSocket(30000);
        UDPQueue = UDPInput;
    }
I would pass a reference to the IO group containing the media flange the same way and then see what happens!
Best,
Johannes

8
General Discussion / Re: Robot for CNC Wood Milling
« on: April 12, 2021, 10:42:17 PM »
Hello,
Unfortunately that's a major challenge for robotic arms, there are hardly any standard tools, usually you need to build at least an adapter plate to e.g. mount a gripper to the robot. UR had a pretty good idea with their UR+ platform (https://www.universal-robots.com/plus/products/?) however even that does not contain prices.
That's one of the reasons why robot integrators make good money, as they offer a package price and deal with all the details. Of courses that's quite a bit more expensive than doing it by yourself.
Regarding the spindle: Usually you need the spindle and a fitting inverter. The opening/closing/cleaning... of the spindle is done via pressured air, so you need digital outputs at the robot and connect them to valves. Often, the spindle also needs a 24V power supply, e.g. for the fan or for operating certain buttons. And a lot of cables!

That should give you an idea, the complexity of the integration of the spindle depends mostly on the chosen inverter, many of them are a huge pain to program. Especially with a spindle I would recommend to get one without too many fancy functions that you don't need but make the handling more complex.

We're currently using an HiTeco spindle, I've also seen plenty of HSD spindles. For robots, they usually recommend the long-nose variants.

Hope that helps a bit with estimating the effort of integrating a spindle!
Best,
Johannes

9
Hello Michael,

Thanks a lot for the kind words and the feedback! The Redundant Position functionality is still in, to be honest I assumed that hardly anyone is using it and therefore got rid of the UI option.
Have you compared whether the file-size really makes a difference? I got some infos from KUKA that omitted positions take up the same amount of memory (not on the harddrive, but once it's loaded to the robot).
Have you had the case were skipping the redundant positions made a difference?
If so, I'd be more than happy to re-integrate the option.

Best,
Johannes

10
General Discussion / Re: Robot for CNC Wood Milling
« on: April 06, 2021, 11:41:31 AM »
Hello Harald,
With KUKA|prc we only act as the interface to the robot. I'm not sure if there is a mature CAM plugin for Grasshopper, but of course people have realized extremely complex scripts for milling that incorporate all these features. It's just that they are often very focused on one specific application, rather than generic purposes by other users.
We - as Robots in Architecture - have no plans at the moment to develop CAM solutions that are natively integrated into KUKA|prc. We would rather provide slick ways of getting toolpath data from a dedicated CAM plugin to KUKA|prc.

Best,
Johannes

11
General Discussion / Re: Robot for CNC Wood Milling
« on: April 06, 2021, 07:40:45 AM »
Hello Harald,

Most safety regulations are national, so what I'm writing may not apply to you. In Austria, a robot is considered an incomplete machine that then needs to be certified once it's equipped for its particular task. Often, that means building a cell around it. In particular when you are milling, for me the main risk is not so much the robot but flying debris, broken milling bits etc.
KUKA also sells software packages that provide extra safety features.
In our case, we are operating robots within the scope of research and development, so there are no specific requirements in that area.
Regarding videos that you see online: There are probably multiple rehearsals before doing anything potentially dangerous.

And regarding your other questions: Spline output is supported but not necessarily recommended as the CAD-splines do not match exactly the robot-splines. And tool offsets etc. need to be considered in your CAM software or your Grasshopper pathplanning!

Best,
Johannes

12
General Discussion / Re: Robot for CNC Wood Milling
« on: March 29, 2021, 05:17:05 PM »
Hello Charles,

Yes, it's only available in the member version. If you want to give it a try, send me an eMail (johannes@robotsinarchitecture.org) and I'll provide you with a temporary license!

Best,
Johannes

13
General Discussion / Re: Robot for CNC Wood Milling
« on: March 29, 2021, 07:49:13 AM »
Hello,
It's pretty straightforward, we include a custom postprocessor for Fusion 360 that generates files that you can then read through a component that comes with KUKA|prc.
We've also got a generic G-Code component, but as G-Code is only poorly standardized it might need some adaptions to work.
What CAM-software are you planning to use?

Best,
Johannes

14
Support / Re: kuka PRC for parametric Laser Cladding
« on: March 26, 2021, 05:55:28 PM »
Hello Syed,

I replied on your DKP400 post a few days back! Regarding the meeting, please get in touch via eMail!

Best,
Johannes

15
Support / Re: Kuka DKP400 positioner
« on: March 24, 2021, 07:26:07 AM »
Hello Syed & Daniel,
Thanks for sharing the nice photos and videos! The following-error is rather strange as the DKP-400 can do 400kg payload as per its name. Maybe there is something mechanical in the way? Or is your metal piece that heavy?
And sure, we can schedule a quick call, it might just end up at the week after Easter as I'm busy with an ICRA paper this week and next week our daycare is on holiday. Please send me an eMail so that we can schedule something!
Best,
Johannes

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