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Messages - Johannes @ Robots in Architecture

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31
General Discussion / Re: 3D printing
« on: August 09, 2019, 07:37:36 AM »
Hello,

Where is the logic in your SRC file coming from? If you programmed it yourself in Grasshopper then you would have to look there for the origin of the negative velocity.
If you imported it from an external software, I would need to get (at least a part of) the original file so that I can see what's going on!

Thanks,
Johannes

32
Support / Re: Status and Turn Parameters with PTP Move
« on: August 09, 2019, 07:32:06 AM »
Hello Andreas,

That was a silly typo, I have fixed it. It will be included in the next release, you can also send me an eMail to johannes@robotsinarchitecture.org and I will send you the fix in advance.

Best,
Johannes

33
General Discussion / Re: 3D printing
« on: August 08, 2019, 12:29:02 PM »
Hello,

I just checked and the CAMRob options should be in R1\TP\CAMROB\CAMROB.DAT
You should be able to set it to C_DIS with your chosen approximation distance, e.g. 2mm.
DECL CR_APO_TYPE CR_eAPO=#CDIS

REAL CR_rAPO_CDIS=2
REAL CR_rAPO_CVEL=10

Do you have only LIN movements or many digital outputs etc. in between?

Best,
Johannes

34
General Discussion / Re: 3D printing
« on: August 07, 2019, 07:16:13 AM »
Hello,

First it would be good to test the process with less dense points, so just make a curve with a few points in Grasshopper and see if you can achieve smooth motion. Test it both as a SRC and as a CAMRob file to check whether there are differences.
If they both work fine, then the point density of the 3D printing project is too high. Either reduce the toolpath in your 3D printing software or with the Reduce Toolpath component.
While CAMRob allows you to load large files, excessive point density will still cause the robot to slow down.

Best,
Johannes

35
General Discussion / Re: Master Thesis with used Kuka Robot
« on: August 05, 2019, 01:01:30 PM »
Not really from my side, unfortunately. Used-robot-wise we've only dealt with Global Robots in the UK, but I'm sure there are more local options in Germany.

Best,
Johannes

36
General Discussion / Re: Master Thesis with used Kuka Robot
« on: August 05, 2019, 12:15:21 PM »
Hello,

A Robots in Architecture student membership would be 95EUR/year, so a small cost compared to the robot. We've got a component to take G-code from Fusion and turn it into KUKA Robot Language.
But there will be a learning curve on both the software and hardware side, that is clear!

Best,
Johannes

37
Hello,

We do not provide a public test license at the moment, it was only available for a limited time and has since expired. It also says so in the text.
Members can of course use their license for both the Grasshopper and Dynamo versions of KUKA|prc.
If you would like to test the Dynamo version, you can send me an eMail and I can provide you with a temporary license. johannes@robotsinarchitecture.org

Best,
Johannes

38
General Discussion / Re: Master Thesis with used Kuka Robot
« on: August 05, 2019, 11:53:34 AM »
Hello Lukas,

10.000EUR is definitely enough for a used robot, the problem is just that the small, used robots are often more expensive than large, used robots - probably because the large robots are more often used in industry.
So if you've got a large space where you can set it up, then you just need to calculate the extra costs for the delivery/setup as well as maybe an electrician for the high-voltage connection.
Most small robots I've seen are more expensive than 10.000EUR. And the compact robots before KRC4 are not really that great, as many were adapted with KUKA controllers, but produced by other companies.
Maybe there's a FabLab around with KUKAs that you could use for your thesis?

A big expense is also safety, however if you're only using it for your own, research purposes than it isn't a real factor.
You could start by contacting KUKA, they're also selling used robots (though they are a bit more expensive than other sellers). Via phone would be my recommendation.
Also, consider founding your own, small company for tax purposes if you buy expensive stuff like robots. But consult with an accountant first!

Best,
Johannes

39
General Discussion / Re: Kuka KR200 Drawings
« on: August 04, 2019, 10:12:52 PM »
Hello Dimko,

You should ask Powermill support for a fitting robot definition.
I believe the old KR200 is simply a stronger KR125. If that's the right robot, I've attached the PDF and STEP file.
Depending on the exact version you may need to extend it a bit.

Best,
Johannes

40
Support / Re: Is KUKAprc for Dynamo still in development?
« on: August 04, 2019, 10:06:34 PM »
Hello Henri,

Actually the internal logic is the same, so all nearly all developments on the Grasshopper side benefit the Dynamo side and vice versa.
We recently sent out a new Dynamo release for users to test, but didn't post it publicly.
If you're interested, please send me an eMail!

Best,
Johannes

41
Support / Re: Feature Requests
« on: July 30, 2019, 01:02:22 PM »
That's super nice, thanks for sharing!
I'll look into the the frame export. The problem is that Grasshopper doesn't like to display thousands of planes, so that will make everything quite a lot slower for large files...
I'll see if I can come up with a solution!

Best,
Johannes

42
Support / Re: Meshes malfuntion in Karl Singline's Custom Turntable
« on: July 29, 2019, 07:46:42 AM »
Hello Marc,

The problem is more a general problem and not really related to using a turntable or KUKA|prc by itself.
It's a combination of two challenges:

-Even a closed curve has got a start and end point. When you make the contour lines, there is no automatic way to keep them aligned, so they will be all over the geometry. Your script currently connects the end point of one contour curve with the start point of the next, so sometimes it will go through the geometry. In my edited file I've added a point, searched for the closest corresponding point on the curves and then adjusted the position of the seam accordingly.
-The second challenge happens when one contour plane intersects the geometry at multiple, separate positions, think of a mountain with one base but multiple summits. In my edited file I've simply only taken the curve with the largest enclosed area and skipped the others.

As always the problem is that finding a "general" solution that works for all geometries is a huge amount of work. So the logic from the tutorial worked perfectly for one geometry but may require adjustments for another.

Hope that helps!
Best,
Johannes

43
Support / Re: Feature Requests
« on: July 25, 2019, 06:41:54 PM »
Hello Mark,

Thanks a lot for the suggestions!
You can actually right-click every robot component and set A6 to infinite - we often use it like that as well!
Regarding the frames: Internally we only calculate with the transformation from the initial, base posture of the robot (and its meshes) to the calculated position. So the frames are not necessarily "inside" the robot mesh. Would that work for Fologram?

Best,
Johannes

44
General Discussion / Re: Spindle to DeviceNet Connection Guide
« on: July 25, 2019, 11:44:52 AM »
Hello Dante,

A quick search gave me that PDF manual as a result: http://supportwop.com/IntegrationRobot/content/9-Peripherie_Entrees_Sorties/Devicenet/KR_C4_DeviceNet_KSS_83_en.pdf
Unfortunately I'm by now quite good with EtherCAT and a ProfiNet, but don't have much experience with DeviceNet... So a guide would be very welcome!

Best,
Johannes

45
General Discussion / Re: Does KUKA prc simulate I/O?
« on: July 23, 2019, 12:40:39 PM »
Hello Josh,

Unless you use e.g. mxAutomation for a real-time connection, KUKA|prc is offline, so there is no way to get your input data into the simulation.
If you use the Wait For component or Custom KRL, the actual robot will of course react accordingly.
If you want the robot to wait for a defined time, then use the Wait component and not Custom KRL.

Best,
Johannes

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