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Messages - Johannes @ Robots in Architecture

#106
Support / Re: issue between simulation and reality
September 24, 2023, 10:02:40 PM
Hello,

I looked through the video and it looks like at the beginning with the external axis at 0 everything is fine, but then it starts to differ. Did you calibrate the base as an Offset Base, or as a regular base?

Best,
Johannes
#107
Support / Re: Smooth movements of a Turn table?
September 15, 2023, 04:03:24 PM
Hello,

I cannot say much from the screenshot, but usually the KUKA would not stop while repositioning, all the movements are done in parallel. So stopping would happen if you have got very little TCP movement but a large change in the turntable.
However I notice that you are providing extremely tiny values, like 0.03 degrees if that is a turntable. Maybe your point density is simply too high?

Best,
Johannes
#108
General Discussion / Re: import Gcode to digital output
September 08, 2023, 09:29:40 AM
Hello,

For the G-code import if you set the mapping to e.g. E1 it maps the extrusion to an external axis, with e.g. D1 it maps ON or OFF to $OUT[1]. The external axis should also work without a physical axis attached (you may need to configure a simulated axis, but try it without it first). On the robot via the sps.sub you could map the current E1 speed to an analogue value that gets output to the extruder.
Just an idea!

Best,
Johannes
#109
Sorry, that is very hard to troubleshoot remotely. Are you sure that it would crash and that you haven't just moved the table geometry in Rhino to the wrong location in relation to the robot?

Looking at the screenshot of the tool I would assume the the tool is not mounted the same way as you placed the mesh.
I would recommend moving the robot to it's standard position (0, -90, 90, 0, 0, 0) by hand and then looking at the tool. If it's not looking downwards, rotate A6 until it is and then rotate the mesh geometry with the same value so that they match.

Similarly to, activate the same tool and base as you are using in KUKA|prc and manually move the tooltip e.g. to the calibrated origin. Then look at the axis values. Enter the axis values e.g. as start values in KUKA|prc, move the simulation slider to 0 and then see if the tool is pointing to the Rhino origin as well.

Best,
Johannes
#110
Hello,

From the screenshots it looks like you are doing everything right. The tool and base values look plausible and in the visualization you see that the XYZABC of the tooltip also matches with the mesh of the endeffector.

Do you maybe just need to place the toolpaths somewhere else? In KUKA|prc the base origin is always the Rhino origin. So if you calibrate for the corner of the table, place the table at the intersection of the coordinate axes.

Best,
Johannes
#111
Hello,

In your screenshot it shows that you are using base number 6 with XYZABC all set to 0. Can you double-check that base 6 is also set to zero on the robot? KUKA|prc by default only references the base number but does not overwrite the current base numbers. That can be useful if you e.g. mount a new piece that is only off by a few millimetres.

Best,
Johannes
#112
General Discussion / Re: import Gcode to digital output
September 07, 2023, 09:42:29 AM
Hello Luigi,

How are you currently controlling the extruder? With the method that maps just to a digital output for on/off?

Best,
Johannes
#113
Support / Re: Adding text programing to the commands?
September 06, 2023, 11:10:40 AM
Hello,

The Custom KRL component allows you to add any commands to the output KRL file. Just note that those commands won't be simulated.

Best,
Johannes
#114
Hello,

That applies primarily to processes like milling where the rotationally-symmetrical tool provides you with a degree of freedom for optimization. So rotating around the tool axis will leave the process mostly identical, but may greatly improve reachability.

Best,
Johannes
#115
Hello,

In that case, here is an example!

Best,
Johannes
#116
Support / Re: Scripting Toolpaths in C#
August 18, 2023, 03:52:35 PM
Hello Luis,

We did not really optimize the code in order to be readable for external users, so take that under consideration.
That being said, attached is an example how you can write your own LIN movements, the other types work similarly enough. I would recommend going through the KUKAprcLibrary.dll rather than the more abstract KUKAprcCore.dll (where the classes are originally located).

Best,
Johannes
#117
Hello,

Can you clarify that a bit? Assuming that you import G-code, you usually end up with a list of let's say 5 LIN commands. When you add an IO command before and after it would look like below:

From...
LIN {X...]
LIN {X...]
LIN {X...]
LIN {X...]
LIN {X...]
To...
$OUT[1]=TRUE
LIN {X...]
$OUT[1]=FALSE
$OUT[1]=TRUE
LIN {X...]
$OUT[1]=FALSE
$OUT[1]=TRUE
LIN {X...]
$OUT[1]=FALSE
$OUT[1]=TRUE
LIN {X...]
$OUT[1]=FALSE
$OUT[1]=TRUE
LIN {X...]
$OUT[1]=FALSE

Is that really what you are looking for?
Best,
Johannes
#118
Support / Re: Fusion360 toolpath wrong orientation.
August 16, 2023, 02:10:01 PM
Hello,

If you look into the Fusion CAM setup, you notice that you set a custom work coordinate system.
So your G-code was exported in relation to the work coordinate system, while the geometry was exported in relation to the global coordinate system. My suggestion would be to use the global coordinate system for both and only set the base for the robot.

Best,
Johannes

#119
Support / Re: Wireless UDP Connection
August 16, 2023, 01:28:44 PM
Hello,

The UDP stuff is super simple (and was very rapidly implemented for a workshop). But if you can live with the limitations I don't see any problem using it wirelessly - we either use Servoing or regular motion types, so there is no hard real-time stuff that would complain about a few milliseconds of additional latency.

Best,
Johannes
#120
Support / Re: Fusion360 toolpath wrong orientation.
August 16, 2023, 01:17:02 PM
Hello,

Can you please send me the Fusion file, ideally with the GH/Rhino files for comparison?
Then I can double-check it on my end. Ideally via eMail or if you don't mind it just attach it to the forum post.

Thanks,
Johannes