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Hello,

Basically that is a matter of parsing text - the component expects a certain format, and if it doesn't get the data it expects you will get a strange result or no result at all.
The logic of parsing most G-codes is not too difficult - split each line by some separator and if the first letter of a fragment is X, then set it as the X-value etc.
I believe the Mach3 postprocessor somehow worked last time I tried it, so give that a try. If not, please send me the G-code via eMail.

Best,
Johannes

Hello,

Probably the CIRcular movements use a different syntax. As a intermediary solution you could try to disable circular movements in Fusion. Which postprocessor are you using in Fusion?

Best,
Johannes

Hmm... I haven't tried it out yet, but it seems that for the roughening they just import a polyline that they got from somewhere else.
I'm quite sure that a CAM tool for GH would be very nice niche for anyone like RhinoCAM who already has got a working Rhino integration.

Best,
Johannes

Hello,

Roughening also does not seem like a one-click solution to me ;)
The main problem with roughening is that the calculations take quite a lot of time, which does not really fit into the concept of Grasshopper. Personally I use SprutCAM for regular roughening as it's a nice software and free for universities - a component for G-code import is included with KUKA|prc. I guess the  cheapest way to get high-quality toolpaths would be via Autodesk Fusion 360, which is apparently free for students, enthusiasts, hobbyists, and startups. It shouldn't be hard to get the G-code into KUKA|prc and I can also help you with it.

Best,
Johannes

Hello Francis,

I can send you a temporary license of the member version, that should take care of your problems as we did many developments in that area. Just send me an eMail to johannes@robotsinarchitecture.org
To be honest I don't use spline movements that often as they are calculated in real-time with the model of the particular robot/motor combination, so there is no 100% confidence that it will be the same across different robots. Let me know if the problem with the splines happens also on the member version.

On the Agilus the A6 can be actually set to infinite rotation by going into the $machine.dat and setting the axis type to 5 (or something like that, the file is commented - use it at your own risk, though). Note that this is not possible with all axis, for example with the Agilus you would rip the internal wiring/pneumatic tubes that come out of A4 if you set A4 to infinite rotation. The new PRC also uses the correct axis limits and velocities.

Best,
Johannes

Hello Phil,

Say hello to Ben to me!
By default, the tilting axis should be the external axis after the rotation, i.e. if the rotation is E1, then tilting will be E2. If you've got a linear axis attached before that, E1 becomes E2 etc.
You can right-click any movement component in KUKA|prc and enable the external axis inputs with E1 to E4 to manually set them. The automated solver works can sometimes do funny calculations with the tilting axis - but you will see it in the simulation anyway!

Best,
Johannes

Hello Monish,

Base 17 is then probably the offset base - but good to see that it's working. Beyond the Profiler widget in Grasshopper (which shows the computation time of a component) there is - as far as I know - no way to judge Rhino performance in realtime (beyond external profiling tools). But if it doesn't feel slow for you, even better :)
Maybe some tools like FRAPS could display the Rhino FPS, but I've never tried it out.
I'll look into it again tomorrow on my laptop and see if it changes anything.

Best,
Johannes

Hello Monish,

You are thinking a bit too complicated - to do that, simply calibrate an offset coordinate system based on the turntable, activate it, then go into a Cartesian movement mode, switch to the external axis and move it with the +/- buttons, If it's properly calibrated, it will stay in place, with the robot moving along with the turntable.
I took a look at your example and I'm getting strange framerate drops when a geometry is attached to the turntable. Interestingly, the computation time of the component doesn't change.
Is there a performance difference happening if a (low-res) mesh is attached to the turntable?

Best,
Johannes

The good old serial port, should be on the PC-side of the KRC2. Of course the usual disclaimers apply as it is not a real "safe" interface etc.

Best,
Johannes

Hmmm... I just quickly googled it and CPC seems to stand for "Circular Plastic Connector" which does not really give any information on the protocol. I would ask for more details here, maybe it's just a few digital/analog IO lines.
You can find many ModBus tutorials online, personally I would try to get it working with a Arduino first and then integrate it with the KRC2 serial protocol. In a worst-case scenario you can still use the Arduino between KRC2 and cutter.
Sorry that it cannot help with the decision. Try asking your vendor for integration manuals, sometimes the "consumer" manuals don't include information on such ports.

Best,
Johannes

Hello,

I wanted to emphasize the different movement speeds of process speed, rapid speed, and "down" speed. But it's just a cluster, so you can edit and change it in any way, I didn't put a password protection on it!

Best,
Johannes

Hello,

I don't know how Ludo did it, but with KRC2 you can actually use the serial port of the robot to very easily send information to the Arduino and to receive it back.
Just be careful not do directly plug the RS232 signal into an Arduino as it works with up to 25V. Last time we used a serial shield like that: http://www.seeedstudio.com/wiki/RS232_Shield
There is a manual for serial communication by KUKA, just google for "Serial_Read_Write_manual" and you should find it. If not, send me an eMail.

Best,
Johannes

Well, there is KUKA CAMRob which does exactly that - no idea how much it costs, though.
There the movements are written into a CSV or BIN file which is read in real-time without putting it all into memory.

Best,
Johannes

Hello,

I fixed that a few weeks ago, but haven't uploaded a new build recently. I'm planning to make a new version available today.
Sorry for the inconvenience!
By the way, the KUKA turntables actually come with an axis limit, but just like A6 you can set it to infinite rotation (don't do it for a tilting axis though, as it is physically limited).

Best,
Johannes

Hello,

I got your eMail, but haven't had time to do anything in KUKA|prc about it. Most likely I'll get to it tomorrow.
If you've got time with the robot, you can try removing the comma after the E4.
Please note that I've never gotten a definitive answer if a reduced file is smaller in memory (i.e. when it's being executed, of course it's smaller on the disk) than a non-reduced file.

Best,
Johannes