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Messages - Johannes @ Robots in Architecture

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31
Support / Re: kuka robot have temporary stop between while play program
« on: August 26, 2021, 09:06:26 AM »
Hello,

I've extracted the lines, the middle one is always the number given by you (counting in actual lines in a text editor, the display on the smartPad is sometimes different)
Code: [Select]
LIN {X 78.596, Y 89.885, Z 2.8, A 0, B 90, C -48.852, E1 23.963, E2 0, E3 0, E4 0} C_DIS
LIN {X 78.277, Y 89.145, Z 2.8, A 0, B 90, C -48.69, E1 23.997, E2 0, E3 0, E4 0} C_DIS
LIN {X 77.935, Y 88.444, Z 2.8, A 0, B 90, C -48.609, E1 24.03, E2 0, E3 0, E4 0} C_DIS

Code: [Select]
LIN {X 107.094, Y 117.564, Z 3, A 0, B 90, C -47.676, E1 14.165, E2 0, E3 0, E4 0} C_DIS
LIN {X 106.418, Y 118.471, Z 3, A 0, B 90, C -48.081, E1 14.212, E2 0, E3 0, E4 0} C_DIS
LIN {X 105.618, Y 119.512, Z 3, A 0, B 90, C -48.528, E1 14.268, E2 0, E3 0, E4 0} C_DIS

Code: [Select]
LIN {X 83.976, Y 73.52, Z 3.2, A 0, B 90, C -41.229, E1 11.983, E2 0, E3 0, E4 0} C_DIS
LIN {X 85.651, Y 73.601, Z 3.2, A 0, B 90, C -40.701, E1 12.054, E2 0, E3 0, E4 0} C_DIS
LIN {X 87.581, Y 73.778, Z 3.2, A 0, B 90, C -40.092, E1 12.136, E2 0, E3 0, E4 0} C_DIS

They all seem perfectly normal, without any big reorientations.
So if you are experience problems, I would guess that could be due to the large file size. You could try remove all lines except e.g. 10000-13000 and see if the error still occurs.

Best,
Johannes

32
General Discussion / Re: Kuka KR200/1A Wrist question
« on: August 25, 2021, 04:54:58 PM »
Hello Dimko,

While I'm aware that they can do 3 axes with 2 motors, I have never seen A5 and A6 move when you move A4, so that sounds like a hardware problem.
Unfortunately I don't have any information on the gearing / relation between those axes. Would you like to counter the rotation via software?

Best,
Johannes

33
Support / Re: KUKA_IIWA_Digital_IO_Error
« on: August 17, 2021, 10:15:46 PM »
Sorry for the delay, today was a busy day!
Great to hear that it worked out, no chocolates necessary :)

Best,
Johannes

34
Support / Re: KUKA_IIWA_Digital_IO_Error
« on: August 17, 2021, 08:12:02 AM »
Hello,

Did you try passing the IO group via the constructor? So that UDPSender looks a bit like that:

Code: [Select]
public UDPSender(InetAddress externaladdress, int externalport, BlockingQueue<PRC_CommandData> UDPQueue, MediaFlangeIOGroup iogrp) throws SocketException {
socket = new DatagramSocket(30001);
address = externaladdress;
port = externalport;
CmdQueue = UDPQueue;
flangeIO = iogrp;
}

Currently you always recreate the IO group in the while loop:
flangeIO = new MediaFlangeIOGroup(cabinet);

Best,
Johannes

35
Support / Re: KUKA_IIWA_Digital_IO_Error
« on: August 13, 2021, 12:43:54 PM »
Hello,

Have you asked KUKA whether you can read/write outputs from a separate thread? If it's a fundamental limitation, then we cannot do anything anyway and need to move the logic into the main thread.
If you post your current code (both the main .java file where you initialize everything as well as the RunUDP.java file) I can of course also take a look at the code.

Best,
Johannes

36
Support / Re: kuka robot have temporary stop between while play program
« on: August 08, 2021, 11:25:11 PM »
Hello,

Can you share the code around where the robot stops, plus minus a few lines?
It hard to troubleshoot from your description alone.

Thanks,
Johannes

37
Hello,

I think something to keep in mind is that robots are still very, very widely used for processes lik spot welding and pick-and-place applications, i.e. processes where you generally want the movements to happen as fast as possible. Controlling the speed beyond that is not really a factor.

In any case, 100% is the full speed of the slowest axis involved in a movement.

With a recent software version that supports SPTP and SLIN movements you sometimes can also get better speed ramps. And for CNC using KUKA.CNC, but that is a complex piece of software.
In general, for smooth movement run the robot in T2/AUT at 100% OV (i.e. full programmed speed, not necessarily maximum speed).

Best,
Johannes

38
Support / Re: got error ip adress after open kuka robot
« on: August 05, 2021, 10:55:45 PM »
My recommendation would be to connect a display to the robot controller (usually DVI, sometimes DisplayPort) and check what is going on if the smartPad has got problems connecting.

Best,
Johannes

39
Support / Re: KUKA_IIWA_Digital_IO_Error
« on: July 30, 2021, 12:23:20 PM »
I guess that's the same problem as before, right?
Maybe try stepping through the code to see whether the entire IOGroup is null or just that method is causing problems. Also, try to run your code in the main program to see whether it's thread-related.
Best,
Johannes

40
Tutorials / Re: How To Orient A Robot Tool Along a Curve (KUKA|prc)
« on: July 29, 2021, 10:24:11 AM »
Hello Nicholas,

Great, thanks for sharing! I think that's the way I would have approached it as well!

Best,
Johannes

41
Support / Re: KUKA_IIWA_Digital_IO_Error
« on: July 28, 2021, 05:42:51 PM »
I haven't worked with an iiwa properly in a while, but my guess would be that you are instantiating the IO-Group once when the program starts and once in your thread.
Rather construct it once in the base program and then pass a reference to the thread through its constructor.
Also, maybe IOs just aren't threadsafe. What error message are you getting?

Best,
Johannes

42
Support / Re: KUKA_IIWA_Digital_IO_Error
« on: July 27, 2021, 05:06:52 PM »
Hello,

Not at the moment, though technically it's of course no problem at all.
If you look into the UDPSender.java you see that what it sends is basically...
Code: [Select]
return (new Integer(CmdQueue.size()).toString()) + "," + posstr + "," + cartstr + "," + forcevector;
The least needed data here is probably the forcevector string, which consists of...
Code: [Select]
String forcevector = df.format(force.getX()) + "," + df.format(force.getY())+ "," + df.format(force.getZ());
So instead of force.getX() you could get an IO state - just take care to turn it into a number, not "TRUE" or "FALSE" as a string.
In Grasshopper you could then just translate it back.

Best,
Johannes

43
Support / Re: KUKA_IIWA_Digital_IO_Error
« on: July 26, 2021, 05:18:25 PM »
I hope so :)

Best,
Johannes

44
Support / Re: KUKA_IIWA_Digital_IO_Error
« on: July 26, 2021, 05:11:53 PM »
Hello,

Sorry, there is no way to troubleshoot it from the screenshot, it just says that there is an object is null.
Did you reference your IO Group when setting up the communicator in Sunrise? If that is null, it would explain the error.

Best,
Johannes

45
Support / Re: Can not play paste 1M line program to kuka krc4
« on: July 13, 2021, 07:35:30 AM »
Hello Settawat,

The total program memory on the KUKA is limited, it does not matter whether that is taken up by one file or multiple smaller files, unfortunately.

Best,
Johannes

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