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Messages - sialam

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Support / Re: kuka PRC for parametric Laser Cladding
« on: December 25, 2020, 10:16:42 PM »
Hi Johannes

These past days have been very intense, we faced an early shutdown of our lab due to health regulations during the pandemic. Hence we have to prepare a few things and got a bit disconnected from the project itself to solve other issues.

Anyway, we have been working with the 3D scanning pre-processing, location of the coordinate system of the scanned object. Reduction of the Stl file, recognition of the Area of Interest ( for cladding purposes). Tool Calibration to achieve repeatability and accuracy with any nozzle and different powder feeder speeds. ( please take a look at attached image).

In the mean time I wanted to thank you Johannes, Karl and every member of the forum. Every sentence of information is truly valuable. We are taking a week break to rest but hopefully we will be able to catch up  soon continuing our discussion and development of this exciting applications.

In the meantime I hope everyone stays safe and sound with their most beloved ones.

See you soon guys!

Support / Re: kuka PRC for parametric Laser Cladding
« on: November 16, 2020, 06:31:34 PM »
Hi Johannes

Sorry for my late reply, Friday we needed to do some stuff and I was not able to work on the programming part of the project. Any how here I am and  I will download the file, scan another part and test it.

I believe we can also reduce the mesh when scanning, I will look at our options in order to have a native file from the 3D scanner, any how I will also test the ReduceMesh in Rhino.

I'll start to work in the scans today and get to you, I appreciate your help.

I'll keep you posted.

Kind Regards

Support / Re: kuka PRC for parametric Laser Cladding
« on: November 12, 2020, 11:32:48 PM »
Hi Johannes

I've been working in the code and got better results but my toolpath seems to be wrong aligned, I assume that the transformation done ( rotate, orient, rotate) in the code has to be coherent to my turn table and process directions right? how do I evaluate this. I'm trying to understand the whole set of operations.

I put a green rectangle on the part of the code I am talking about, They yellow rectangles represent the code I changed in order to get what seems a better orientation of my whole process. (turntable, piece).

I hope this is a clear explanation.

If not please let me know.



Support / Re: kuka PRC for parametric Laser Cladding
« on: November 12, 2020, 07:48:14 PM »
Hi Johannes
I'm still working on the code you sent me trying to understand each part of it, I'm not sure if I understand everything correctly but also I am configuring the tool, the positioner and everything according to our setup.

I attached our old code which has almost everything already configured according to the post you shared here,115.0.html , anyway we cant make that one work. I also attached a draft of how we want the process to run. Which is basically leave the positioner first axis always at 90 degrees, then rotate continuously rotate the second axis and let the kuka robot almost all the time at 90 degrees form the surface of the working piece.

Taking a look at the code you sent me I believe that I might have to change the orientation planes according to the object, process direction and robot tool, right? anyway I will dig more into it .

We are completely new to rhino and Grasshopper, so that is why we are taking sometime in not just making it work but actually understanding the workflow, sorry if that is a but annoying. For sure we Will share with you guys the link of the article.

Kind regards


Support / Re: kuka PRC for parametric Laser Cladding
« on: November 04, 2020, 08:23:19 PM »
Hi Johannes
Thanks so much for the reply, sorry if my description is not accurate.

What I mean is I want the e1 to maintain a 90 degree angle always and then the e2 to continuously rotate if necessary according to the toolpath, i.e. if I put a pipe in our chuck, I want e2 to rotate continuously and the tool maintain its position and just move a bit further to the end of the piece after every iteration.

I just downloaded the code that you pointed to me I will study the case and try again and let you know how are we doing. Thanks for the assistance.

We are working on a demo incorporating the Inconel powders and the laser so we might have a video of this to share with all of you guys. Also the Weld magazine should be out soon, I'll post the link for anyone to have a look at what we wrote, feedbacks, comments and anything is very well appreciated.

Johannes, Thanks again and I'll be in touch with you.


Support / kuka PRC for parametric Laser Cladding
« on: October 30, 2020, 06:05:42 PM »
Hello everyone.
My name is Syed and I am a student at University of Alberta, I am working in the automation of a laser cladding facility along with another fellow in the university. As for our setup we have a Laserline 9kw laser,  a Thermach powder feeder, a siemens PLC, a Kuka kr16 and a dkp400, in terms of software we decided to use Kuka prc as we believe it truly potentializes the  flexibility and ease of programming for multiple and complex geometries of our worn out parts that we are working in repairing.

So our workflow involves a 3D scanner that we use to create our model of the worn out part and then we use the 3D model in rhino in order to create the toolpath adding polylines. Once we do this, the laser and powders are controlled with the I/Os of the Beckhoff module and the siemens PLC.

Any how we are now struggling when we try to use our DKP and maintaining the tool as statically as possible and let the dkp do the most of the work in terms of moving. We are aiming at rebuilding a pipe as a test but for now we are using a plate.

My specific question is what type of values does the external axis accepts, angles? vectors? I tried to find this on the documentation but probably I missed it and just can't figure out and understand how should I input the values and also understand what I am inputting.

Finally I want to thank Karl and Johannes, your work is amazing and we are using most of the resources to put this together. My colleague Daniel reached Karl I believe but we didn't wanted to share anything until we had something much more useful or specific. So now We are showing our work here in order to share, hoping to get a bit of help as well as show the capabilities of in engineering processes. We will be featured in WELD magazine soon talking about our setup and the use of parametric programming and we are very happy to share this with you and hope to get more thing and collaborations in the future.

Thanks in advance  for everything and hope you find this interesting.

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