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Messages - distantkitty

Awesome! I thought I was using this portion of the code correctly, it appears I removed the  PRC Orient Plane component at one point by accident.

As always, I appreciate it.
Support / Fix end effector to stay tangent to rotary
April 10, 2024, 08:12:32 PM
I have a rotary axis which I'm trying to extrude about a surface. Just trying to do a spiral-in/out, I can't seem to keep my extruder tangent to the surface. It seems there is a racing issue? I checked how the speeds were interpolated, but maybe I'm just overlooking something.

I'm trying to 'fix' the extruder tip so it does not rotate around the model. Almost like cutting on a lathe, but I hope to extrude.

Attached is the .gh with internalized data.
Image1 is an example of the extruder moving around the turn table.
Image2 is how I want fix the extruder.

It's been awhile since I've had to make some changes in my workflow, maybe I'm just rusty.
I have spiral toolpath which works fine, but after that I want to do a LIN movement (green line). Right now, after the spiral cut, the rotary moves while trying to the LIN movement.

How do I prevent any rotary movement and follow the green path. Long term solution is trying to do a tool change where the LIN movement is.

gh attached with data internalized.

Support / Re: Angled positioner Setup Help
April 05, 2023, 06:08:28 PM
Thank you both, I'm still learning the in and outs of KUKA/Positioner.

I'm not sure how that C value got in there, I didn't think much of it, I assumed that was just a setting for flange/base for this positioner.... but in hindsight, a C-value rotation wouldn't make sense anyways.

I wanted to confirm it wasn't something I was messing up in KUKA|PRC first before modifying in Workvisual where I'm even less familiar with.

Upon setting all the values to 0 on my positioner and recalibrating, it looks like it's working! Thank you both.
Support / Angled positioner Setup Help
April 04, 2023, 04:41:34 PM
I'm having a challenging time getting my positioner set up in KUKA|PRC, but I'm also not sure if it's setup correctly within WorkVisual (imaged attached).

I have tool#3 TCP defined and I calibrated by KUKA positioner correctly (I think). I calibrated by touching tool #3 on the 'plus' symbol on my positioner, rotated it, touched off again, etc. I was then given a root value of my positioner (imaged attached)

I'm just trying to a linear movement in the Z axis for now.... just to validate things.

In KUKA|PRC the positioner looks rotated 90degrees and slightly off in other angles.

Attached is a few screen shots of my calibration, setup and .gh file with internalized data.

I appreciate any guidance.

Support / Re: Horizontal Indexer Setup
November 15, 2022, 05:20:15 PM
.... oh man, I'm sorry. I totally missed that component.
That did exactly what I wanted.

Thanks :)
Support / Re: Horizontal Indexer Setup
November 15, 2022, 02:55:32 PM
Is there a way to define the rotary root frame parametrically/externally? Maybe I'm approaching this incorrectly.

I'm trying to visualize my cells boundary.... say 5mx5m rectangle cell.  I could use a rectangle component and define my cell boundary and have my rotary in the center of the cell?

Support / Re: Horizontal Indexer Setup
November 14, 2022, 02:07:16 PM
Thanks! I just checked out the .gh, the comments really helped!
I think I would of been chasing my tail all day, I didn't realize I had to set the rotary to Rhino origin.... but it makes sense now.
Support / Horizontal Indexer Setup
November 12, 2022, 05:59:11 PM
I'm trying to configure a Kuka Indexer that is horizontal. Most tutorials I've found have the indexer in the vertical position. I have a piece of stock material that I'm trying to cut off, much as if you were to "part off" on a lathe.
My toolpathing now has the rotary fixed, but the mill circling about the toolpath. I'm trying to rotate the indexer and slowly move the spindle down in Z.

I would appreciate any guidance.

internalized GH attached :)

I'm very new to industrial arm applications but have been working in CNC for many years. I'm trying to outfit a KR KUKA with a indexer, but current lead times from KUKA are pushing 20 weeks. I'm curious if its possible to use other rotaries 3rd/party indexers with a KR C4 such as this used one on ebay.

Reis Kuka 8 Axis Rotary KR240 Rotating 7 Axis w/ Drive 4003AT & Motor DSCG 056K

How would I go about interfacing with such motor?

I appreciate any insight.