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Messages - Johannes @ Robots in Architecture

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31
Hello,

If you start with a LIN command you would go from the start position - which might be somewhere else - in a straight line to the first LIN, including the possibility of singularities etc.
Also, LIN movements do not contain any information regarding the posture of the robot. With a PTP movement the posture at the start of the robot toolpath is clearly defined, as will be all positions after that.
If you start with your own PTP movement, you won't get an extra PTP movement.

Hope that makes sense!
Best,
Johannes

32
Hello,

What exactly do you want to achieve? There are several tutorials on the forum and Karl Singline's excellent videos.
Basically the KRL file gets generated automatically in the background (if Code Generation is enabled and an output directory is set). If you want to generate it manually, right-click the Core component and choose the Expose Save Input option. You now get a text input for the file name and a Boolean input (attach the Button component) to save the file.

Best,
Johannes

33
General Discussion / Re: Career path for programming robots?
« on: April 30, 2019, 05:27:06 PM »
Hello David,

While I know many robotics engineers I'm not the expert on wages etc. Especially in our community there seem to be people from all kind of backgrounds, from architecture, to engineering, and even art and design.
It seems to me that engineers are always in high demand and at least here companies also hire people without specific robot experience (e.g. an electrician or programmer who hasn't worked with robots before) and then arrange courses etc. for them to get them up to speed.
However, I don't see a huge overlap between the people who set up robots and those who program robots for CAM applications. Often the programmers don't really work that much with the robot, but use their CAM software in the office while other staff runs the programs and deals with maintenance etc.

Just some remarks, maybe someone else can give you more specific feedback!

Best,
Johannes

34
General Discussion / Re: Technical Data Kuka Servomotor
« on: April 30, 2019, 05:16:11 PM »
Hello,

For current motors (at least those used in external axis) KUKA provides those values, so chances are good that if you ask the hotline they can also dig out the specs of older motors.

Best,
Johannes

35
General Discussion / Re: May I ask something pls?
« on: April 29, 2019, 04:04:44 PM »
Hello,

Rotary tables are of course supported and have been for several years. You can actually combine turntables and linear tracks if you want to!

Best,
Johannes

36
Support / Re: IIWA zoing and speed
« on: April 26, 2019, 07:21:46 AM »
The iiwa isn't really made for machining stuff, however we did a polishing project and I don't think that we had problems with point density > 4mm. So give it a try!
The new PRC release supports CIR and SPL movements as well, however it needs a new version of the Sunrise code, which isn't 100% tested yet.

Best,
Johannes

37
Support / Re: IIWA zoing and speed
« on: April 25, 2019, 11:48:59 AM »
Ah, and regarding your second question - you can copy-paste the frames into the RoboticsAPI.data.xml to use like regular, taught frames.
Just for when you want to get positions from CAD to the robot, not necessarily as a toolpath.

One more thing: Take care that the speed is not set too high, that also caused issues for us sometimes, with jerky movement.

Best,
Johannes

38
Support / Re: IIWA zoing and speed
« on: April 25, 2019, 11:46:28 AM »
Hello,

There is no C_VEL for the iiwa, and C_DIS only works at 4mm and over - see below for the documentation. No idea why that is the case...

Quote
setBlendingCart
public T setBlendingCart(double value)
Sets the absolute value for this motion in mm.
The specified value is a maximal value for the motion, however it is possible that it will not be reached during the execution of the motion because of other motion planning restrictions.
When blending is used with a move(), or a moveAsync() command and the next motion command does not come in time to be included in the path planning, the motion will stop at that point, where the blending condition applies. As soon as the next command arrives the motion will be planned with blending. The path of a interrupted motion is equivalent to a fluent motion where the next command arrives in time for planning.

It is possible for the specified value to be too small for the robot to be able to complete the programmed path. Therefore, a restriction is in place that sets values below 4mm to 0. The robot will perform an exact stop at the destination.


Parameters:
value - the absolute blending value for this motion in mm. This value must be positive or zero. 0 = no blending, the motion will stop at the destination
Values below 4 will be ignored. No blending will be done.
Returns:
This motion (builder pattern)
Throws:
IllegalArgumentException - if absolute blending value is less than 0.

Best,
Johannes

39
Hello John,

Those are very specific robots, apparently primarily built for press tending.
As the robot is no longer in production, you will need to be very lucky that someone sells 10 at the same time. More generic robots (e.g. KR150-2) are much easier to find.
You can start by asking the used department at KUKA, but they won't offer discount prices. There are plenty used robot sellers around, but I cannot really give you a "secret place", probably you've found them already via Google.
They often don't have all robots online, so I would just send those shops an eMail with the type of robot you're looking for and your price range.

Best,
Johannes

40
Support / Re: iiwa 7th axis algorithm?
« on: March 27, 2019, 04:49:56 PM »
It should tell you that, yes. Consider disabling the interpolation to get less values (but also a bit less simulation accuracy).
Best,
Johannes

41
Support / Re: Is there some tutorial of mxAutomation?
« on: March 25, 2019, 12:12:04 PM »
Hello,

The setup is actually pretty straightforward as KUKA provides a test program. So you can follow the KUKA instructions for the test program and then just switch to KUKA|prc.
I can then provide you more information if e.g. the modes are a bit confusing. But beyond the buffer modes, everything more or less works like in regular KRL.
Let me know if you get stuck anywhere.

Best,
Johannes

42
Support / Re: Issue about MXA.
« on: March 21, 2019, 10:27:48 PM »
It might still be on my end, unfortunately I cannot test it at the moment.
I first need to find the time to update my robots to KSS 8.5 and then to mxA 3.

Best,
Johannes

43
Support / Re: Issue about MXA.
« on: March 21, 2019, 09:18:33 AM »
Did you test it with the KUKA supplied test program? That would be a good first step.
I haven't tested it with mxA 3 yet, but was assured that mxA 3 doesn't contain any breaking changes.

Best,
Johannes

44
Support / Re: Issue about MXA.
« on: March 20, 2019, 12:49:00 PM »
Usually if the OV updates but nothing is received then the firewall is blocking the robot, i.e. your PC is sending data packages just fine but not receiving any.
Try disabling the Windows firewall on your PC!

Also, the robot should be in EXT mode and depending on the setup you might need to press the Reset input (Boolean toggle on the mxA component) a tiny bit longer.

Best,
Johannes

45
Support / Re: iiwa 7th axis algorithm?
« on: March 18, 2019, 11:31:05 PM »
Hello,

What parameters are you optimizing for? I had some success having the additional axis to face away from the target, similar to https://forum.robotsinarchitecture.org/index.php/topic,822.0.html
But of course that cannot optimize for collisions etc.
Maybe you can constrain it so that it only optimizes the positions that have problems?

All of that is very application-specific, which is why we don't have an automatic solver for it at the moment. But any ideas are welcome!

Best,
Johannes

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