Messages

1

Support / Re: KR3 .dat file

« on: November 30, 2021, 10:13:32 PM »

Hello,

I don't see why that would not work, take a look at the KUKA|prc settings that splits a large job into several files.
All it does is generate multiple programs that are then run for a primary file.
But yes, if you want branching decision trees Grasshopper is not the best tool, we did some very successful experiments with Unity Visual Scripting, though, for real-time applications.

Best,
Johannes

2

Support / Re: <SYS-X44> Error during ECat stack initialization [NetworkResponse() iiwa

« on: November 26, 2021, 08:45:26 PM »

Thanks for sharing!
Best,
Johannes

3

General Discussion / Re: Turntable settings

« on: November 25, 2021, 01:38:05 PM »

Hello,

I just tested it, the result is funny and definitely not intended.
I've put it onto my to do list!

Thanks for pointing it out!
Best,
Johannes

4

General Discussion / Re: Turntable settings

« on: November 25, 2021, 01:09:48 PM »

Hello,

The order of the external axes should depend on the order they are connected in Grasshopper, at least it should.

Best,
Johannes

5

General Discussion / Re: Turntable settings

« on: November 25, 2021, 11:44:06 AM »

Hello,

Your post is missing a question!

Best,
Johannes

6

General Discussion / Re: Picture

« on: November 25, 2021, 11:43:16 AM »

Hello,

The easiest approach is just to attach it!

Best,
Johannes

7

Support / Re: KR3 .dat file

« on: November 16, 2021, 07:37:25 PM »

Hello,

I always understood DAT and SRC files as a separation between variables and logic. The SRC file contains the logic (e.g. "LIN Pos1") and all the positions etc. ("E6POS Pos1 = ...") are saved in the DAT file.
That approach is useful if you are mainly re-using saved positions (e.g. some sort of pick and place) but less relevant for processes with many individual points.

Best,
Johannes

8

General Discussion / Re: Implement automatic tool Z re-calibration with KUKA|prc ?

« on: November 09, 2021, 05:42:20 PM »

Hello,

The problem is that all these things are super-specific to individual setups - hardly any tool changer works the same. We recommend our partners - just had a meeting about that a while ago - to define a KRL function with all the logic and to put a defined axis position before and after the Custom-KRL component.
That way, even though the tool change is not simulated, the simulation is still accurate.

Regarding the tool length measurements that shouldn't be too complex:

Measure the triggering position of a pressure switch with a very short tool.
Move the new tool in a very safe distance (> longest tool) over the switch
Enable an interrupt with the switch
Move the robot downwards until the switch triggers.
Stop the robot
Use the Z-difference to the reference tool to calculate the new XYZABC values

It only gets a bit meaner if the tool is mounted with a strange orientation, then you need to do some trigonometry.
Best,
Johannes

9

Support / Re: <SYS-X44> Error during ECat stack initialization [NetworkResponse() iiwa

« on: October 30, 2021, 11:14:56 PM »

Hello Sina,

The EtherCAT bus is usually running if all four LEDs of the EK1100 buscoupler are on (but may be blinking). If you look at the Beckhoff documentation, the fourth LED signifies "RUN": https://download.beckhoff.com/download/document/io/ethercat-terminals/ek110x_ek15xxen.pdf
Is the order of the Beckhoff modules correct? If they are in the wrong order, that also causes problems.
Finally, it seems to me that both the "In" and "Out" port on the EK1100 is used.
Is there any EtherCAT hardware configured in your WoV file except the one EK1100 with its modules?
If not, disconnect the EtherCAT cable going somewhere else, if you don't have any configuration for that "somewhere else". Could of course just lead to an external port that is empty!

Best,
Johannes

10

Support / Re: <SYS-X44> Error during ECat stack initialization [NetworkResponse() no Network R

« on: October 28, 2021, 08:02:09 PM »

Hello,

So to first state the obvious, the robot cannot find periphery connected via EtherCAT. The first steps are usually to make sure that the EtherCAT coupler is connected to power, maybe the 24V supply for the Beckhoff got disconnected during transport?
If everything is physically correct and powered, I would just create a new project in Sunrise and then edit the WoV file accordingly, with the Beckhoff elements in the right order, the same as in the WoV file that you can open in WoV 6. Then create the Sunrise IO groups and have it generate the Java code to access it.

Hope that helps a bit!
Best,
Johannes

11

Support / Re: Src. File not running - Error 2224 Constant Expected

« on: October 18, 2021, 07:10:53 AM »

Great, thanks for the update!

Best,
Johannes

12

Support / Re: Src. File not running - Error 2224 Constant Expected

« on: October 17, 2021, 10:49:44 PM »

Hello,

It seems that the E1-E4 values of your start/end movement are set to NaN, which C# / Grasshopper sees as a valid number, but I guess KRL is looking for a variable with that name.
Did you set those values to NaN in the settings manually? If not, it would be great if you could send me your Grasshopper definition - feel free to substitute your commands with a single 6-Axis movement, I'm confident that if there is an error, it's in the settings and not the toolpath.

Thanks!
Johannes

13

Support / Re: WISH : please add the KR210 r3100 Ultra

« on: October 14, 2021, 05:50:16 PM »

It's not an ideal system, that's also on me...!

14

Support / Re: No Signal from Digital I/O

« on: October 13, 2021, 11:03:35 PM »

Perfect, thanks for the feedback!
Best,
Johannes

15

Support / Re: WISH : please add the KR210 r3100 Ultra

« on: October 13, 2021, 10:29:09 AM »

Hello,

I just checked and the robot seems to be included, see below!
It does seem to have some small issues with the mesh, will look into that...

Best,
Johannes