Messages

Hello Lior,

You can get started right away. KUKA|prc generates a *.src file which you just have to copy onto the robot directory (R1/Program) and then select from the menu (take care to use "select" and not "open"). In order to see the USB drive, change the user group (Start-Up/Configuration/User-Group) to Expert, the default password is a robot manufacturer with four letters, starting with k.
In order to be able to move the robot, you will either have to connect the relevant safety equipment to the X11 plug, or directly connect the channels if you don't plan on using external safety. Alternatively go into the highest user group (same password) and enable the Start-Up Mode in the menu. You will only be able to move the robot in T1 mode, i.e. at reduced speed and constant pressing of the button on the back of the controller, in start-up mode.
There are quite a few things relating to the basic handling of a robot (e.g. pressing the button on the back of the controller to the first position in order to be able to move the robot) that are best explained on-site, so I would recommend getting someone with basic robot knowledge when you first boot up your robot. Also refer to that post regarding the tool and base calibration: http://forum.robotsinarchitecture.org/index.php/topic,115.0.html
If you don't have them yet I can send you the standard user manuals as preparation!

Best,
Johannes

To change the posture, a robot with six axes has to leave the straight path, which LIN movements cannot do. So for changing the posture, you would need to use a single PTP or axis movement in between, unfortunately.

Best,
Johannes

Hello,

That sounds very likely, sorry for the slightly delayed reply. Just one quick remark: According to your screenshot, he problem occurred with a LIN movement, where the speed is set in m/sec and refers to the TCP, so individual axes can go up to their maximum speed in order to achieve the tooltip speed. When you are close to a singularity, the required speeds quickly ramp up and can cause the robot to stop. With PTP movements you do not have the singularity issues and set the speed in percent, as you've mentioned.

Best,
Johannes

Hello,
To be honest I've personally never missed being able to close the window without changing the values. However you are of course right that not having that button is an omission, so I've put it onto the to-do list. As it will be very easy to implement it should make it into the next release.
Best,
Johannes

Hmm... Can you send me an example?

Thanks,
Johannes

Hello,

As per your simulation you are using an Agilus, which cannot rotate A4 infinitely. You can reset the axis by using a PTP movement with not just STATUS, but also TURN, separated by a space, e.g. 010 1100100. Refer to e.g. page 63 of the KUKA Expert Programming Manual. I would get the current axis values from the simulation where you want to "reset" the A4. Then turn the values into 0 and 1 depending if they are >= 0 or not and switch the value for A4. Note the order, according to the manual.
Also note that this is a PTP movement, so robot's tooltip won't stay at the position. Depending on what you are doing it may make sense to move to a safe position before.

Best,
Johannes

Hello,

I see from the other post that you've found the right approach yourself, but just for anyone else who may be looking: Set the TURN value of a PTP movement to exactly define the posture, thus "unwinding" the robot. Through the  STATUS/TURN input, you can now enter "010 100010" to set the STATUS to "010" and the TURN to "100010". Refer to e.g. page 63 of the KUKA Expert Programming Manual. TURN input is optional, use it e.g. to "unwind" the robot between complex movements. If you open an existing definition, the input will still say "STATUS", but the optional TURN functionality should work.

Best,
Johannes

Nice, congratulations!
Now I want a plasma torch, too ;)
Best,
Johannes

Awesome! Let me know if you run into any issues!

Best,
Johannes

Hello,
That functionality has been moved into the Robot Cell component, where you can also define custom cell geometry.
I'll have to double-check that, but I believe that component to be only available to users of the member version.
I can issue you a trial license, if you want to give it a try.
Best,
Johannes

Hello,

The main issue is that you have quite many degrees of freedom that each have got a large effect on reachability. Basically you can go in any direction if it's a planar surface, or in two direction if it's a non-planar ruled surface. Then you can also rotate around the tool axis.
I would definitely approach each side separately for now, possibly implementing toggles to switch direction etc.
What you could also look into is using Galapagos - you assign your parameters and as the fitness function you use the Analysis component - to which you as member have got access - and make a Mass Addition for Collision and Reachability. Then tell Galapagos to try to minimize the values.

Best,
Johannes

Hmmm... Buying a robot and controller separately is definitely a possibility, but I wouldn't really recommend it as a "first robot". I know that Global Robots sold robots to the US before and thanks to the Brexit it may be a good time to buy a British robot ;)
They are listing KUKAs at around 9500GBP on their homepage: http://www.globalrobots.com/robots.aspx?brand=3
There are many other sellers of used robots around, I linked to Global because I knew that they've got prices on their homepage and we've worked with them before.

Best,
Johannes

Hmmm... In Europe you can definitely get a KRC2 with KR150 at less than 10k EUR including the robot, but there is a much larger used market.
The VKRC2 controllers are slightly adapted, but there shouldn't be any big problems that I am aware of. I'll actually be working with a VRKC2 later this week.
That being said, I'm not that much of an expert on anything older then KRC2 2005, as this is what we started working with.
Best,
Johannes

Hello,

Thanks for letting me know, I'll look into that. In the meantime, you can use the Reset IO State option in the Code Generation settings! Or alternatively create a custom KRL pattern where you set your output at the beginning.

Best,
Johannes

Hello Jason,

I can't give you any exact numbers, e.g. for the maximum file size, as even KUKA does not provide them. But in general I really wouldn't go for a KRC1 controller as the price difference isn't huge. For most types the mechanics will be more or less identical and there are no great differences in code and capability (on a higher level, there are definitely many smaller improvements). It's really mostly about the file size. As far as I know KRC1 also does not support the USB port, so you will need network shares or floppy drives ;)
Windows XP is only available in the newer KRC2 controllers.
A KR150 with KRC2 controller is definitely a good idea!

Best,
Johannes