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Messages - Johannes @ Robots in Architecture

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General Discussion / Re: Kuka KR C4 shutdown
« on: July 16, 2019, 03:50:54 PM »

Simply make sure that no program is running and that the robot is at a standstill, then turn the power button.
The robot should keep on running for a couple seconds and will then turn off. If it goes dark right away, its battery is dead or not connected correctly.


General Discussion / Re: Running stepper from KRC4
« on: July 10, 2019, 10:07:45 AM »

We did quite a few projects with stepper motors and the EL7047, however - while it apparently works somehow - we never used it directly from the KUKA but controlled it through a Beckhoff PLC that was connected to the robot via an EtherCAT bridge.
The Beckhoff NC module gives you very nice flexibility, but of course also adds complexity...
I'm not sure if you can really set all the motor values via CoE from the robot, at least for the initial setup you may need to use a PLC.

The EL7047 manual is here:

I'm curious how it works out, keep us updated!


Support / Re: setting origin at robot when using rotatry table?
« on: July 08, 2019, 08:03:07 AM »

What setting did you use for that?
In any case, KUKA|prc assumes that when you're using a rotary axis, you are also working within an offset coordinate system that is located on the turntable.
If you have some external device driven by a KUKA motor that shouldn't rotate the coordinate system, simply set the geometry via the Robot Cell component and set the E1-4 values as usual.


Job Openings / Researcher (30h/week) @ Creative Robotics
« on: July 05, 2019, 06:40:43 PM »
> See also

Creative Robotics at the University for Arts and Design Linz (Austria) is looking for a new researcher (75%, 30h/week) to join the team. The lab is a collaborative project of the University, with partners Grand Garage, Ars Electronica, KUKA Robotics, and the Association for Robots in Architecture, headed by Prof. Johannes Braumann, the development lead of KUKA|prc.

We’re looking for people that bring additional, specialized knowledge (such as handcraft, material knowledge, physical computing, geometry, software development, media art, HCI…) to the lab. Current research projects involve the manipulation and simulation of textile materials, large-scale robotic fabrication of structures, and R&D for automotive and aerospace OEMs, as well as “fun” projects ( with Ars Electronica and other partners.

We are operating two labs, one at the university itself and a second one within the 4000m² Innovation Workshop Grand Garage, where we have got access to high-end machinery like HP SLS printers, additive metal fabrication, coating technology, measuring machines alongside the more usual CNC machines.

Linz has got a vibrant international digital media/arts scene alongside its “historic” industrial background, that draws in both high-tech companies as well as heavy industry.

German knowledge is not a prerequisite, however the official job posting is only available in German at

Please send your application (cover letter, CV, overview of projects/research) until July 17th, 2019 to

For questions, please directly contact

General Discussion / Re: Need a Cheap Source Robotic Arm
« on: July 05, 2019, 08:59:25 AM »
What is your budget? "Cheap" is very relative.


Tutorials / Quick Getting Started for KUKA Sunrise
« on: July 04, 2019, 12:10:43 PM »
As there are more and more iiwa users, here are some quick instructions to get you started with KUKA|prc (new, "v3" Version) and Sunrise:

Go into the KUKA|prc settings, Advanced/Code/Sunrise/Download Sunrise Library
The generated ZIP file contains a number of directories, copy them into your Sunrise project.
It should look somehow like in the attached screenshot.
Set up your tool and base in the Sunrise Workbench, make sure that the XYZABC values are the same in the KUKA|prc simulation and at the actual robot. Take care that Sunrise by default displays radians in the Workbench but degrees on the smartPad. KUKA|prc expects values in degrees.
Now modify the following lines to fit your base and tool in the file:

Code: [Select]
String toolname = "PolierVib"; //SET TOOL NAME
String tcpname = "TCP"; //SET TCP NAME
ObjectFrame baseFrame = getApplicationData().getFrame("/BASE1"); //OPTIONAL: SET BASE COORDINATE SYSTEM

When you run the program on the iiwa, you will get a file browser window. You can then select the XML file that was generated by KUKA|prc from e.g. a USB stick or a network share. You could also hardcode the path if you wanted to.

The UDP and SmartServo programs work in a similar way, but they need a realtime Ethernet (UDP) connection between robot and Grasshopper/KUKA|prc, so you need to set the right IPs, ports, and firewall settings.
Note that if you are not using the SmartServo tech package, you may need to delete the file, otherwise Sunrise will complain because it’s looking for missing libraries.

Also, the iiwa has some limitations that are not linked to KUKA|prc, e.g. that the motion blending needs to be at least 4mm. So you need to set that as the C_DIS value in the KUKA|prc advanced settings, in order to get motion blending.
In general, very high point density can be problematic.

Hope that helps a bit!


Support / Re: Robot is scaled to 4 times the size of a 25' Project!
« on: July 01, 2019, 09:58:17 AM »

All KUKA robots work in mm, which is why KUKA|prc always assumes your project to be in millimeters as well.
So in Rhino you will need to copy/paste your geometry into a millimeter project or change the units of your original project.
We decided that it would be better to make this a responsibility of the user, so that we don't have accidental dual conversions or rounding errors on our end (think As you mentioned, the mismatch in scale can be seen clearly in the simulation.
Hope this clarifies it a bit!


Support / Re: Error during ECat stack initialization?
« on: July 01, 2019, 09:51:58 AM »
I just checked, are you SURE that the X65 port is the KLI port?
On the Agilus - if I remember correctly - it's the EtherCAT port, which would explain your EtherCAT problems. X66 on the side would be KLI.


Support / Re: Error during ECat stack initialization?
« on: July 01, 2019, 09:49:26 AM »
Hello Nick,

I'd start by activating the old project again, that previously worked - just to make sure that the problem is software and not hardware related.
Then do the changes step-by-step, first the controller name, then the RoboTeam etc.
Also, verify that any connected EtherCAT periphery (EK1100 etc.) is correctly powered with the LEDs on.
As you connected the robots via Ethernet, did you make sure that they do not use the same IP address? I don't think that would have an impact on EtherCAT, but who knows...

Finally, a cold-boot from the Shutdown menu, with re-load files ticked, is never a bad idea.


Support / Re: X55 I/O Bypass
« on: June 25, 2019, 07:30:05 AM »

Just to explain what the X55 is doing, in case that is useful to anyone:
One the one hand two pins provide 24V power from the cabinet, and two other pins are connected to the internal Beckhoff EK1100.
So when you start the robot, you either have to bridge the pins (+ from inside to + going back inside, same for 0V) to provide power to the EK1100, or you attach a cable with your own 24V power supply.
If you don't do it, the EK1100 will not have power and you will get an ECAT / X44 error by the controller as it cannot find configured hardware.

Thanks for sharing the photos, Shelby!


General Discussion / Re: show the item which is picked by robot
« on: June 20, 2019, 03:18:31 PM »

If you want to see the robot pick up the brick, you need to include the brick in the tool definition.
Here's an example using the new KUKA|prc version.


Support / Re: Issue about MXA.
« on: June 18, 2019, 04:21:13 PM »

What issue are you having?


« on: June 17, 2019, 08:01:55 AM »

If you are a member, you can add custom robot models. But you are in luck, because just this Friday we posted the first public release of the new version of KUKA|prc, which ships with the KR3 included.
So just download the most recent version again and you should be fine!


General Discussion / Re: sharing network directory
« on: June 17, 2019, 07:49:25 AM »

Basically that shouldn't be robot-specific, so you can just google for "Windows 95 network share".
Regarding your screenshot, the actual Ethernet adapter (no VXworks/VXWin etc. in the name) should have the "File and printer sharing for Windows networks" option. You may try to install it with the "Add" button. Consider making a complete backup before doing any changes to the network adapters.

If I remember correctly, its IP address must not be in the 192.168... range.
Also, both controller and PC need to be in the same Workgroup.


Sure, turntables and rotary tables are just different terms for the same thing!

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