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Messages - Johannes @ Robots in Architecture

#1
General Discussion / Re: KUKAprc wit ABB?
June 05, 2024, 11:05:55 AM
Hello,

Unfortunately, that is not possible. We focused our efforts on supporting KUKA robots as well as possible; other robots are currently not supported.

Best,
Johannes
#2
Hello,

My apologies for the late reply, we currently have the ROB|ARCH conference going on in Toronto.
In the file you provided I was missing a few plugins, but I looked at the settings and you are using base 8 with all values at 0. Did you set base 8 as an offset base?
Can you check how base 8 is set in the config.dat file on the robot?

And regarding my previous post, is the turntable synchronizing properly?

Best,
Johannes
#3
Support / Re: 3d printing with kuka
May 22, 2024, 04:02:48 PM
Hello,

Not that I am aware of. You can have the robot trigger an output at a certain event, but as far as I know not before an event. Personally, I would add an extra point before the end of a path, shut down the extruder there, and then continue moving.
You could also try to post your question at places like the robot-forum, as it is not really KUKA|prc specific.

Best,
Johannes
#4
Hello Max,

So the intended behavior in KUKA|prc is that you calibrate an offset base (not a regular base) which is then kinematically linked with the robot. So when you go into base movement mode, switch to the E1 and move it, the robot should move along with it (assuming an offset base is selected).

From your description it sounds like this is happening, which would be good. But is there a mismatch between simulation and reality?

Best,
Johannes
#5
Support / Re: 3d printing with kuka
May 15, 2024, 05:08:26 PM
Here is an example how you could replace a digital output command with Custom KRL.
Best,
Johannes
#6
Support / Re: 3d printing with kuka
May 14, 2024, 05:24:34 PM
Hello,

For these purposes, you can use the "Custom KRL" component. You can simply write "DESLIGAR()" as the input and it will be written into the file at that position. The content will not be simulated, though.

Best,
Johannes
#7
Support / Re: 3d printing with kuka
May 14, 2024, 02:04:38 PM
Hello Carlos,

Yes, that's how it should work. With a Boolean on/off only positive change will show up. So you cannot retract the filament that way.

Best,
Johannes
#8
Great that you got it to work!
Best,
Johannes
#9
Good Morning Max,

There are some examples in the tutorial and support section, but could you confirm what you are trying to do?
Because a turntable rotates. If you want to have a coordinate axis "supported" then you would probably be using a linear axis/track/rail.

Best,
Johannes
#10
Support / Re: 3d printing with kuka
May 10, 2024, 11:36:25 AM
Well, what is easy and not is often hard to judge in advance. But in your case, with the relatively simple geometry, it only means that every second layer will be reversed, which is easy enough to do. See attached.

Best,
Johannes
#11
Support / Re: 3d printing with kuka
May 09, 2024, 02:54:02 PM
Honestly, I don't think there is a way to have a zig-zag infill plus a perimeter that start and end at the same point. I played around for like 15mins, you can find the file attached, maybe there are some pointers that you can use. I guess you could split the infill and have one zig-zag that goes "down" and then another that goes up.
Also, your simulation is very slow because of the huge tool meshes. Join them in Rhino into one mesh, run ReduceMesh and get them down to like 5000 faces and everything will be much nicer and more responsive.

Best,
Johannes
#12
Support / Re: 3d printing with kuka
May 08, 2024, 10:48:43 PM
Hello,

Your Rhino file was missing, so I don't know how your geometry looked like. With the contour component the robot would follow one contour and then go in a straight line to the next contour. What would be your goal? That it becomes more like a helix without sudden changes?

Best,
Johannes
#13
Support / Re: 3d printing with kuka
May 08, 2024, 11:40:51 AM
Also, here is a simple example on importing G-code!
Best,
Johannes
#14
Support / Re: 3d printing with kuka
May 08, 2024, 11:28:19 AM
Hello Carlos,

Sorry, I cannot help you with that, maybe someone else can contribute. While we work with robotic 3D printing, it rarely involves infill. You probably found it as well, but here's a top result from Google that looks helpful: https://discourse.mcneel.com/t/creating-infill-geometry-in-grasshopper/87592
I'll get back to you via email regarding the trial license.

Best,
Johannes
#15
Support / Re: 3d printing with kuka
May 07, 2024, 05:47:49 PM
Hello Carlos,

For a temporary license you can contact me at johannes@robotsinarchitecture.org.
However, I am not sure if a slicer developed for small scale printing will help you a lot with your probably much larger nozzle and objects. Don't expect instant success but as is often the case with 3D printing a lot of tuning ;)

Best,
Johannes