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Messages - Johannes @ Robots in Architecture

#1216
Tutorials / Re: Example: Custom Robot
October 23, 2015, 04:28:28 PM
Excellent, always happy to help!

Best,
Johannes
#1217
Tutorials / Re: Example: Custom Robot
October 22, 2015, 08:23:41 PM
Hello,

KUKA provides robots geometries in the robot's standard home position, i.e. 0/90/-90/0/0/0. So you also have to provide the meshes in that position.
If you set the axis values to 0/0/0/0/0/0 then the robot will look as in your screenshot (which is correct).
There is not need to "zero" the axes when using a robot, as e.g. in older CNC machines!

Best,
Johannes
#1218
General Discussion / Re: KUKA spindle
October 21, 2015, 03:09:50 AM
Hello,

I just went through my old photos from my time at TU Vienna where we had that spindle - that was the best I could find where the label is somehow readable: https://onedrive.live.com/redir?resid=CCAAAC61F8C818D8!186572&authkey=!APC-73xrAwFEn4A&v=3&ithint=photo%2cJPG
It seems to be that spindle: http://www.hsdusa.com/bo/allegati/Files/797_1423h0241_rev03__es350_.pdf

Hope that helps!
Best,
Johannes
#1219
Support / Re: Collision check not working
October 14, 2015, 09:09:46 AM
Hello,

Hmm... My best guess would be that the collision occurs "between" movements, as KUKA|prc only checks at the given positions but not inbetween (as this would potentially need a huge amount of memory and computation time).
You can try to enable the LIN interpolation in the KUKA|prc settings so the collision should show up in the Analysis view. If the problem persists please send me the file via eMail so that I can take a look at it!

Best,
Johannes
#1220
Great! I'm glad that we got it to work!
Please let me know if you ever run into any other issues!

Best,
Johannes
#1221
Hello,

There are two (documented) reasons why this happens: Either some parts of the framework or some parts of KUKA|prc are missing.
In regards to the framework this happens most often with Windows XP users, as e.g. in Windows 8 everything necessary "should" be included. You can get the .NET Framework from Microsoft's download section: https://www.microsoft.com/en-us/download/details.aspx?id=30653
The other occasion when I've observed that issue was when someone manually copied the KUKAprcCore.dll and KUKAprcNew.gha file, but forgot to include the OxyPlot files that are necessary to show the analysis graph.
Another thing to try out: We are signing our files to make sure that they are not blocked by Windows, but you can try to right-click each of the KUKA|prc related file in the components library (Grasshopper > File/Special Folders/Components Library) and see if it offers an option to "Unblock" the file.

If the error persists please send me some more details about your setup, i.e. operating system, version, Mac?, etc.
Please either reply here or send it via eMail to johannes@robotsinarchitecture.org

Sorry for the problems that you're having with KUKA|prc!

Best,
Johannes
#1222
Support / Re: File description cannot be processed
September 28, 2015, 04:50:24 PM
For anyone with a similar problem:
I tried the file on a KRC4 and got the error message "Inadmissible module name" which is more helpful than on KRC2.
Turns out there was an empty space in the filename and projectname (with probably the latter causing the issues).
We just pushed out a new KUKA|prc member release, the version after that (in 1-3 weeks) will check for empty spaces (and not just for numbers at the beginning of a project name, which also wouldn't work).

Best,
Johannes
#1223
Support / Re: File description cannot be processed
September 25, 2015, 05:31:02 PM
And did you try copying a file to D: as I suggested before?
#1224
Support / Re: File description cannot be processed
September 25, 2015, 05:29:31 PM
Hello,

If the code has problems, the robot will tell you where the error is (at line X).
I think that I wrote that before, but open the *.src file in a text editor and see if there is any content.
Attached to this post is a random *.src file - I wouldn't recommend to run it, but see if you can copy it to the robot and select it via the control panel.

Best,
Johannes
#1225
Support / Re: File description cannot be processed
September 25, 2015, 04:30:00 PM
I can send you some PDFs that are helpful, but file-handling isn't really a common topic as most manuals seem to assume that the user is mostly teaching the robot, rather than using external files.
Where did you try to copy it? We usually put our files into the [Robot Icon]/R1/Program folder

Try to copy the file to D: and see if that changes anything. Remember that you're using technology that is old in IT-terms, so the issue may be as low-level as that your particular USB stick just doesn't work with your robot.. If you're using a new USB stick, chances are good that its capacity is higher than the robot's HDD ;)

Best,
Johannes
#1226
Support / Re: Floppy ?
September 18, 2015, 03:34:55 PM
Hello,

Files are only compiled once they are copied onto the robot, so you cannot really circumvent that with the base configuration.
The... Minion/User mode is a safety feature, at least with KRC4 there is no easy way around it.
However, it is possible to display the USB drives also in User mode, check if the following directory exists on your robot: C:\KRC\UTIL\KRCCONFIGURATOR
It contains a help file and a utility that can set the robot to show other drives also in User mode.

As your robot is newly configured it may make sense to backup your harddrive before making any internal changes. KRC2 uses the old IDE interface for harddrives and won't fit most current external enclosures. Personally I create the images with the free version of Macrium Reflect.

Best,
Johannes
#1227
Support / Re: Floppy ?
September 18, 2015, 01:46:51 PM
Hello,

You first have to change the user group to Expert (Configuration/User Group) - the password should be the name of a German robot manufacturer, four letters starting with a k ;)
I forgot to mention that USB drives by default only show up if you are in expert mode. So after changing the user group to Expert your USB drive may actually show up.
On KRC4 you switch to Windows via Service/Minimize HMI (or so, I'm on the train at the moment) and it should be similar on KRC2.
If you are using just one PC, you can also just assign a static IP address to the PC and use a single cable. If the robot's IP is 172.31.1.147 set the PC to e.g. 172.31.1.148 or so.
Otherwise I'd actually use a regular WiFi router, it's much more convenient than cables and you can probably squeeze a power cable into the cabinet without having to drill anything.

Our KUKA robots do not shut down when you open the door, but that my be something specific to your robot.

Best,
Johannes
#1228
Support / Re: Floppy ?
September 18, 2015, 12:51:48 PM
Haha, I would recommend using Ethernet to get data onto the robot instead!
Switch into Windows, create a new user with a known password, and then share a folder (e.g. on the D: drive) via the regular Windows file-sharing. You can then copy the files on the KCP from D: to the robot drive.
I remember newer KRC2s working nicely with USB drives, I'll ask around if that is a software thing or (probably) a newer hardware revision.

As you mention running the first program: Make sure that both simulation and physical robot use the same tool and base number as well as XYZABC values! That is probably the most common thing that goes wrong.

Best,
Johannes
#1229
General Discussion / Re: KRESS mount
September 17, 2015, 12:12:23 AM
Exactly, with flat panels etc. the height makes a big difference!
Best,
Johannes
#1230
General Discussion / Re: KRESS mount
September 16, 2015, 11:52:37 PM
In general you want to avoid coinciding axes, it can also happen between e.g. A1 and A6, but A4 and A6 are usually the most common ones. I'm sure that you have noticed that before, when you move through a position and the A4 starts flipping - basically the tooltip slows down, whiler there is much movement happening "behind" the tool.
Here's a nice video: https://www.youtube.com/watch?v=zlGCurgsqg8

Best,
Johannes