Messages

1

General Discussion / Re: TCP coordinate

« on: October 17, 2019, 12:43:10 PM »

Hello,

The TCP position in the GUI or the variable are always relative to the robot base and using the currently active tool.
If you change the base, you will also see the XYZABC values of the position change.

Best,
Johannes

2

General Discussion / Re: TCP coordinate

« on: October 17, 2019, 11:56:05 AM »

It's simply Display / Current Position / Cartesian.
Or you can query the $POS_ACT variable.
In both cases, make sure that the right tool and base are active.

Best,
Johannes

3

Support / Re: Multi state tools for xml files & sunrise

« on: October 16, 2019, 07:32:36 AM »

Hello,

Multistate tools basically allow you to easily switch the geometry of a tool, e.g. so that a gripper also shows the workpiece it's holding.
Regarding the gripper: If it's controlled via IOs then you can just toggle the IOs via KUKA|prc. If the gripper is using its own library, you can just "hack" a bit into the *.java code that is provided by us.
So that e.g. when you toggle output 5, it actually actuates the gripper via the library.

Best,
Johannes

4

Support / Re: import gcode digital output

« on: October 14, 2019, 11:52:49 AM »

Nice, thanks for letting me know!

5

Support / Re: import gcode digital output

« on: October 09, 2019, 05:44:11 PM »

Hello,

Please give today's version in the member section a try!
I hope it works now!

Best,
Johannes

6

Support / Re: Clockwise turntable with weird tool path preview

« on: October 09, 2019, 05:43:34 PM »

Hello Ryan,

Sorry, I fixed that before my holiday but forgot to upload a new release.
My apologies for the delay, a new version is now available in the member section!

Best,
Johannes

7

Support / Re: import gcode digital output

« on: October 08, 2019, 06:39:18 PM »

Hello,

I should be able to take a look at the code tomorrow and test it, sorry for the delay!

Best,
Johannes

8

Support / Re: import gcode digital output

« on: October 07, 2019, 12:15:05 PM »

Hello,

Here's an example that I think we produced before. I'm not at my main PC, so I couldn't verify it, but I'm pretty sure that's the right file.
It looks like this:

Code: [Select]

G1 X187.993 Y102.063 E1.9422
G1 X189.27 Y103.839 E1.971
G1 X189.637 Y104.407 E1.9799
G1 X190.73 Y106.291 E2.00858
G1 X191.043 Y106.898 E2.01758
G1 X191.941 Y108.871 E2.04612
G1 X192.187 Y109.488 E2.05487
Best,
Johannes

9

Support / Re: import gcode digital output

« on: October 06, 2019, 05:54:06 PM »

Hello,

In your G-code example, is E the target speed of the extruder? It seems that we have mostly dealt with distance values before, i.e. the G-code defines how many mm of filament to extrude, not how fast to move stepper motor.

Best,
Johannes

10

General Discussion / Re: no memory available

« on: October 06, 2019, 05:39:08 PM »

Hello,

It's cumulative for all files in the robot folder, so it makes sense to keep it clean.
If you want larger files, there are a few options...
...KUKA.CNC (KRC4 only)
...KUKA CamRob (KRC2, not officially available for KRC4 anymore)
...PointLoader (https://www.orangeapps.de/?lng=en&page=apps%2Fpointloader - third party product, haven't been able to test it yet. You will need to adjust the KRL output a tiny bit, get in touch if you will test it).
...or live-streaming via mxAutomation, though it might choke with the high point density of 3D printing files.

And you can of course also try to reduce the complexity of the toolpath.

Best,
Johannes

11

General Discussion / Re: KR6 Training Cell Automatic mode

« on: September 27, 2019, 07:41:59 PM »

Hello,

Now that's a good find!
Did you try to just manually turn on the drives, by pressing the middle of the S O/I R buttons on top?
A safety issue should show up as a red or yellow error message, but make sure that all doors are closed etc.
Finally, take a look at the sps.sub, if there are variables like $CONF_MESS set from digital inputs.
Regarding training materials, if they were initially included I'm sure you can get them from KUKA again. But for e.g. the new ready2educate cell, there is a lowest tier that doesn't include any training material.

Best,
Johannes

12

Support / Re: Free version is not available after installation

« on: September 24, 2019, 09:06:52 PM »

Hello,

By 19-year and 16-year are you referring to 2019 and 2016?
I don't think a Rhino reinstall will make a big difference, have you followed the steps I outlined in my previous post?
If you are not using an updated Windows 10, your NET framework might also be outdated. The installer should notice that, though.

BEst,
Johannes

13

Support / Re: Free version is not available after installation

« on: September 23, 2019, 09:15:50 PM »

Hello,

Which version did you install, and where did you download it from?
Usually those problems arise when people don't use the installer, but just copy/paste files.
I would recommend to make sure no old files are installed. In Grasshopper go to File / Special Folder / Component Folder and delete all files and folders starting with either KUKA... or OxyPlot...
Then run the installer again.

Let me know if that helps!
Best,
Johannes

14

General Discussion / Re: Wait for Digital Input

« on: September 23, 2019, 09:12:13 PM »

Hello Abishek,

By default KUKA|prc is running offline, so you cannot really simulate the waiting for a digital input.
Basically KUKA|prc is really a very slim interface for robot control, and the main commands are the movement commands.
You've got axis movements or Cartesian movements, and the Cartesian movements are defined by planes (i.e. coordinate systems, but GH refers to them as planes).
The entire logic how those planes are laid out are defined with more general Grasshopper components before.
If you want to assemble pipes that have rotational symmetry, you would probably create a plane via the Plane Normal component, and could then optimize reachability by rotating the pipe around it's Z-axis as to optimize the robot's trajectory. For rotating, you could e.g. use KUKA|prc's Orient Plane component, where you define a Point from which the plane's X-axis is oriented away from.

Hope that helps a bit!
I looked at your file but was missing an plugin for it to work properly on my laptop.

Best,
Johannes

15

General Discussion / Re: Wait for Digital Input

« on: September 22, 2019, 08:25:04 PM »

Hello Abishek,

Sure, that is possible. My recommendation would be not to use just one digital output, but e.g. 8, and combine them into a signal. With 8 outputs you could then send a number between 0 and 255, the more outputs you use the larger the number can be.
That way you can ensure that they do not get out of sync so easily.
For the logic on the other robot, just use a Custom KRL component.

If you've got a KRC4 robot, you could also use an EL6692 or EL6695 EtherCAT bridge to have the robots talk to each other.

Hope that helps!
Best,
Johannes