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Hello,

In Fusion, you need to use the KUKA|prc custom postprocessor for generating the 5-axis G-code. You can get the postprocessor by right-clicking the KUKA|prc Fusion component in Grasshopper and then choosing the according option!
Fusion will then save the toolpath in an XML format that KUKA|prc/Grasshopper can read!

Best,
Johannes

Hello,

Sorry for the late reply. Unfortunately we do not support the RoboTeam function where the other robot acts like a synchronized, external kinematic system.
It would be possible to integrate it with a reasonable effort, but we have never needed it so far.
A simple example for using KUKA|prc and RoboTeam is attached, you can either wait for each other or synchronize individual movements. Both robots need to have the same number of synchronization components and use different RoboTeam IDs (in the external axes menu). You need to move the slider to update both simulations.

Best,
Johannes

Hello,

Sorry for the delay again, I'm still having issues with the email notifications.
What you can do is go into Settings/Advanced/Code and untick the option "Use robot-internal code-pattern". Then remove the [STARTAXPOS] line. This way, the axis position will not be written into the KRL code. I would strongly recommend to start with a PTP position, ideally with both STATUS and TURN values.

Hope that helps!
Best,
Johannes

Good Morning,

You are basically asking "how do I program non-planar 3D printing for generic solids" which is a question that is not fully within the scope of a forum. But I'm happy to share some code to put you in the right direction. It uses Pufferfish to tween between two surfaces. Just note that with trimmed surfaces you run into some issues, as you are going to see. Also, the code is not made for a solid, but two surfaces. With a solid you would need to somehow define how those non-planar divisions are flowing.

Hope it helps!

Best,
Johannes

Good Morning,

Sorry for the late approval of your post, there were some issues with the forum.
What start point are you referring to? The initial axis position in the settings or something else?

Thanks!
Johannes

Hello,

How many items does each element contain? As per the error message, it expects the same number of elements at each input.

Best,
Johannes

Good Morning,

In general I would advise against using splines, they are not NURBS and you lose quite a lot of control over your geometry with them, in my experience. Though that might not matter as much with clay printing.
The problem you found is still a bit weird to me so I will continue to look into it, but for now it should be fixed, and the fix will be included in the next member release. As you mentioned that you're a member through your university, if you send me an email I can provide the release in advance.

Best,
JOhannes

Good Morning Austin,

Sorry for the late reply, we had some forum issues.
Regarding your question, on my PC the Safe Plane seems to work as it should, could you please send me a screenshot and mark what does not work?

Thanks,
Johannes

Hello,

Please excuse the late reply due to some issues with the forum.
What you are seeing is a singularity - the robot is stretched out and the axes of A4 and A6 are nearly overlapping, which is causing the problems that you are observing. Try to angle your tool to avoid that. For more information on singularities also check the KUKA manual.

Best,
Johannes

Hello,
Sorry for the late reply, there were issues with the forum, notification. The problem here is not so much the PC side, but the robot side.
For (soft) real-time control we recommend mxAutomation, which is built into the member version of KUKA|prc (but you need to buy the techpackage for the robot). If you want to put something together, you could look into KUKA EKI and KukaVarProxy - note that these two are nice for sending variable etc., but it's more challenging to get smooth motion out of them.
Best,
Johannes

Perfect!
With all meshes, ideally mesh them yourself so that you don't get a performance hit from using hundreds of thousands of vertices as cell geometry!

Best,
Johannes

Hello,

Usually, the position of the turntable is defined by the physical position of the turntable, it's not something people change often.
Are you trying to automatically optimize the position of the turntable?
For use within KUKA|prc you would define the geometry of your cell via the Robot Cell component, which then shows up semi-transparent around the robot.

Can you provide some more details on what you want to do?

Best,
Johannes

Perfect, thanks for the update!
Best,
Johannes

Hello,

I had a look at your file and made some fixes!

For the custom turntable, construct it at the Rhino origin and then set its position via the right-click menu to set XYZABC values. Ideally also create the meshes yourself, plugging the polysurfaces in directly will result in very heavy meshes and slower performance.
The same applies for the toolpath, draw it at the zero position!

For simple cases, you can use the dynamic rotary axis via the KUKA|prc settings, I've already activated it in my file.
Finally, it depends on the turntable how it is configured, so I'd see the current version primarily as a way for initial testing.
You could also calibrate it in a way that the robot seems "flipped" in relation to the turntable that looks vertical - that would also be fine as it's just a matter of the position in relation to each other!

Hope that helps!

Best,
Johannes

Hello Andreas,

Unfortunately I don't have any tutorials specifically on that. Martin Krcma was a visiting researcher at my department and realized some super interesting non-planar strategies for 3D printing, recently published here: https://doi.org/10.1089/3dp.2022.0097
If you get stuck on a particular problem, I'm of course happy to take a look at the code!

Best,
Johannes