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Messages - Johannes @ Robots in Architecture

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16
Support / Re: KUKA CNC _ Spline and Circ Movements
« on: October 13, 2021, 09:39:34 AM »
Hello Jason,

Shall we continue the discussion with your colleague in CC via eMail? May be easier than the forum!

Best,
Johannes

17
Support / Re: No Signal from Digital I/O
« on: October 11, 2021, 07:33:30 AM »
Good Morning,

So what you are looking for are the technical specifications of your robot, you can download them for free from https://xpert.kuka.com/service-express/portal/
On my version the relevant section is 6.4, page 63 which provides you with the complete pin out.
In your sketch, 0V should be pin 10 and 24V should be pin 9. The two digital outputs are pins 1 and 2.
Just from that data, your sketch sounds plausible. However, you always need to map inputs and outputs in WorkVisual, so that the robot knows that pin 2 on X41 is equivalent to your $OUT[14]. That is not a default, so if the robot configuration has been changed since the last time someone used it, the digital IOs may not be configured at all.

For troubleshooting I would recommend using the Display / Digital IO menu rather than KRL code. Just note that to change the state of an output you need to hold down the button on the back of the smartPad, as if you were moving the robot in T1.
You mentioned a "previous student", so any re-configuration of the robot via WorkVisual should probably be done by the lab staff.
Hope that helps!

Best,
Johannes

18
General Discussion / Re: Spindle for Robotic Applications
« on: October 06, 2021, 08:15:01 AM »
Hello,

I often see the ES915 used in the long-nose configuration, but that is very dependent on your requirements and tools, it's hard to provide a universal recommendation.
Communication works via IOs or a fieldbus interface with the inverter, so the spindle itself is usually not talking directly to the machine (except some basic things like the button that opens the tool).

Best,
Johannes

19
Support / Re: KUKA CNC _ Spline and Circ Movements
« on: October 06, 2021, 07:51:14 AM »
Hey Jason,

No worries. I've already prepared my code for CIRCs and SPLINE, so theoretically it should be quick to implement.

I'm still a bit worried about the syntax as I cannot test KUKA.CNC at my setup, so some tests here would be great. I've got the programming manual from ISG Software, but it is not robot specific and most examples only use three axis.

G02 and G03 are clear, I would probably also have to set G161 to set the auxiliary point in absolute coordinates. What I'm not sure about is how to best implement arbitrary arcs, as the arcs seem to be always in relation to one of the three planes (via G17, G18, G19).
The challenge with splines is that the default B-Spline settings works with control points, while the robot creates a spline that goes through the points. So I would have to set it to Akima interpolation, which will be a bit different from the preview.
I'll have to check if an Akima spline with three points approximates an arc with the right tangents or not. That could also be a workaround...

Any ideas on that? Maybe I'm misunderstanding things here...

Best,
Johannes

20
Support / Re: Help robot programming
« on: October 06, 2021, 07:12:34 AM »
Good Morning,

What are you looking for? You will need to be a bit more specific!
For tutorials on KUKA robots and KUKA|prc you could check out Karl's YouTube channel: https://www.youtube.com/c/KarlSingline

Best,
Johannes

21
General Discussion / Re: Acquiring the technical knowhow to use Kuka arms
« on: October 04, 2021, 08:51:35 AM »
Hello,

From a CNC point of view it definitely won't be a problem to get started with a KUKA arm, though you may run into problems like file-size limitations down the road.
As you wrote, the challenge is the handling of the robot - but for standard milling processes, that by itself won't be too bad.

The basic KUKA courses are good at giving you a broad overview of robot handling and safety, but don't go into the specifics. At the same time, getting a milling robot started doesn't require too many steps, mostly the calibration of tool and base which can be learned within an hour. It gets more complicated once you set up your own custom processes, connect devices via fieldbuses etc., but the start is not that hard, in my opinion.

Ideally you could tag along with someone for a day or two to get some hands-on experience. We do this sometimes, but are far away of San Francisco unfortunately.
We are working on an online platform, but it's also not there yet.

If you want to, send me an eMail and I can brainstorm some people in the area. But I'd rather not post contact information here publicly.

Best,
Johannes

22
Support / Re: WISH : see the robot despite empty "CMDS" input
« on: September 29, 2021, 11:13:12 AM »
Hello,
Sounds like a good idea, I'll see if that causes any issues with the component!
Best,
Johannes

23
Support / Re: KUKA CNC _ Spline and Circ Movements
« on: September 29, 2021, 07:50:39 AM »
Good Morning Jason,

I need to take a look at the code later, but I believe that we deactivated CIRs at some point because there were some issues with it.
If there is a need from your side, I can allocate time to try to get them to work again. KUKA.CNC is quite a niche product (and marked with "Beta" in the settings) so there are some features missing.
That being said it has been improved in the past months because there are now a few more users around with requests etc.

If you have got some working code snippets of G2/G3 in KUKA.CNC implementation that would also speed up the process!

Best,
Johannes

24
Support / Re: Can not play paste 1M line program to kuka krc4
« on: September 27, 2021, 08:56:50 AM »
Hello,

Splitting the file does not help you significantly with size problems, as you still need to copy all files into the limited memory.
So maybe not all files got copied and this is why you got the error from the master file?

Best,
Johannes

25
General Discussion / Re: Rotatory table example
« on: September 12, 2021, 09:32:35 PM »
Hello,

Attached is an example showing you a hotwire-cutting process supported by a turntable.
Hope that helps!

Best,
Johannes

26
General Discussion / Re: Getting started with KUKA|prc
« on: September 10, 2021, 07:47:31 PM »
Hello,

The main question is, from where are you starting? Are you an experienced Grasshopper user? Or robot user who wants to look into parametric design?
Or coming from a completely different field?

I hope that I'll be able to give you some pointers then!
Best,
Johannes

27
General Discussion / Re: Orientation
« on: August 31, 2021, 02:33:30 PM »
Hello Math,

The position of the orientation point depends solely on the process, there unfortunately is no "optimum" way of placing it. For example, if you are working towards one side of the robot, you probably want to position it to the other side, thereby gaining additional reach.
If you are working in a pretty standard setup where the robot does something on a table somewhere around it, the common singularities happen with Cartesian movements (e.g. LIN) where A5 is close to 0. The other types become a problem e.g. when you work over the robot. So you could check for that, if you want a specific number!

Best,
Johannes

28
General Discussion / Re: What should I do to get dat and src?
« on: August 30, 2021, 05:33:07 PM »
Hello Rumie,

By default, you go into the KUKA|prc settings and set an output directory (plus filename). Whenever the input data changes, KUKA|prc will write that file.
Alternatively, you can right-click the Core component and choose "Expose save and filename input" - now you can attach a button component to save the file.
Note that all information is contained within the SRC file, KUKA|prc does not generate a DAT file.

Best,
Johannes

29
Hello,

From what I remember, good references are ETH's Mesh Mould system, as you mentioned Branch Technology, and I think there was also some research and Tongji University. My overview is probably a few years old, I'm sure that there are plenty more projects like that by now.

Unfortunately I don't think there is an easy way to get started, personally, I would approach such a challenge by drawing the toolpath I want the robot to follow by hand as geometry before trying to create elaborate algorithms. Then you can check what works and what doesn't and get some initial physical results.
From what I've heard, cold welds are a pretty big challenge for these kind of structures. So it's not just the programming, but also the material's physical behavior that will be challenging.

Hope that helps a bit!
Best,
Johannes

30
General Discussion / Re: Kuka KR200/1A Wrist question
« on: August 26, 2021, 09:15:50 AM »
Hello Dimko,

Personally I feel that is something that would be better to fix in hardware, than offset in software.
But I made a quick prototype how that could work in KUKA|prc. Of course there are several issues, e.g. that you are now using PTP interpolation instead of LIN, so you need pretty dense toolpaths. The multiplication is of course just a placeholder for your factor.
Maybe you could also work with the planes from Analysis instead.
But it is a bit hacky and can cause issues, so be careful.

Unfortunately, I haven't seen these numbers anywhere yet.

Best,
Johannes


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