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Messages - Johannes @ Robots in Architecture

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481
Support / Re: No "Pause" component ?
« on: January 27, 2016, 02:40:35 PM »
The good old serial port, should be on the PC-side of the KRC2. Of course the usual disclaimers apply as it is not a real "safe" interface etc.

Best,
Johannes

482
Support / Re: Control a plasma cutter : Modbus or CPC ?
« on: January 27, 2016, 10:51:38 AM »
Hmmm... I just quickly googled it and CPC seems to stand for "Circular Plastic Connector" which does not really give any information on the protocol. I would ask for more details here, maybe it's just a few digital/analog IO lines.
You can find many ModBus tutorials online, personally I would try to get it working with a Arduino first and then integrate it with the KRC2 serial protocol. In a worst-case scenario you can still use the Arduino between KRC2 and cutter.
Sorry that it cannot help with the decision. Try asking your vendor for integration manuals, sometimes the "consumer" manuals don't include information on such ports.

Best,
Johannes

483
Support / Re: WISH : Tool axis offset / 2 different speed settings
« on: January 27, 2016, 10:00:43 AM »
Hello,

I wanted to emphasize the different movement speeds of process speed, rapid speed, and "down" speed. But it's just a cluster, so you can edit and change it in any way, I didn't put a password protection on it!

Best,
Johannes

484
Support / Re: No "Pause" component ?
« on: January 27, 2016, 09:58:58 AM »
Hello,

I don't know how Ludo did it, but with KRC2 you can actually use the serial port of the robot to very easily send information to the Arduino and to receive it back.
Just be careful not do directly plug the RS232 signal into an Arduino as it works with up to 25V. Last time we used a serial shield like that: http://www.seeedstudio.com/wiki/RS232_Shield
There is a manual for serial communication by KUKA, just google for "Serial_Read_Write_manual" and you should find it. If not, send me an eMail.

Best,
Johannes

485
Support / Re: Scrolling a large file on the KCP
« on: January 27, 2016, 09:53:50 AM »
Well, there is KUKA CAMRob which does exactly that - no idea how much it costs, though.
There the movements are written into a CSV or BIN file which is read in real-time without putting it all into memory.

Best,
Johannes

486
General Discussion / Re: Turntable turns red in simulation @ 3220
« on: January 27, 2016, 09:24:48 AM »
Hello,

I fixed that a few weeks ago, but haven't uploaded a new build recently. I'm planning to make a new version available today.
Sorry for the inconvenience!
By the way, the KUKA turntables actually come with an axis limit, but just like A6 you can set it to infinite rotation (don't do it for a tilting axis though, as it is physically limited).

Best,
Johannes

487
Support / Re: Scrolling a large file on the KCP
« on: January 26, 2016, 08:28:57 AM »
Hello,

I got your eMail, but haven't had time to do anything in KUKA|prc about it. Most likely I'll get to it tomorrow.
If you've got time with the robot, you can try removing the comma after the E4.
Please note that I've never gotten a definitive answer if a reduced file is smaller in memory (i.e. when it's being executed, of course it's smaller on the disk) than a non-reduced file.

Best,
Johannes

488
Support / Re: No "Pause" component ?
« on: January 26, 2016, 08:23:37 AM »
Ludo is absolutely right, however the new PRC also includes a Wait component that actually stops the robot in the simulation. You can also use the Custom KRL component and enter the command directly as per Ludo's suggestion. The effect on the code is the same in either case.

Best,
Johannes

489
Support / Re: KUKA PRC and Stäubli RX170HP 6-Axis
« on: January 25, 2016, 09:50:38 PM »
Hello,

Hmm... Not that easily. With the new member version you can get the toolpath in XML format (intended to be used with the iiwa). I guess you could try to parse that data and create Stäubli-compatible code. That being said, it would involve quite a lot of work and will not be an easy thing to achieve. To be honest I haven't worked with Stäubli robots in-depth, so if you want to you can send me a simple code example (just a few linear movements or so) and I can give you my best guess if it is easy to convert!

Best,
Johannes


490
Support / Re: Kuka DKP400 positioner
« on: January 22, 2016, 11:09:19 PM »
Hello,

Great to hear that you were able to sort out the problem - only the full member version supports external axes.
According to your data you're with UTexas, right? I've unlocked your account as a member account so you can download up to date versions of KUKA|prc and get access to the Rob|Arch eBooks.
The DKP400 can be a bit tricky sometimes, let me know in case you need any help.

Best,
Johannes

491
Support / Re: Scrolling a large file on the KCP
« on: January 22, 2016, 11:04:07 PM »
Hello,

That shouldn't happen, please send me an eMail with the file in question and I can double-check it. Usually the controller will also give you the number of the line where the error occurred - that should be helpful as well.
It's also possible to be related to the filename or e.g. something you entered into a Custom KRL component.
I don't think it's connected to the KRC2 controller, though!

Best,
Johannes

492
General Discussion / Re: Milled photograph
« on: January 20, 2016, 09:07:16 PM »
Awesome, thanks for sharing!
If you want to, you could submit your video, or a combination of your videos, to the Rob|Arch 2016 Call for Videos: http://www.robarch2016.org/call-for-videos/

Best,
Johannes

493
Hey,

Looking forward to seeing you at Rob|Arch then, don't worry about the questions!
Personally 280.000EUR seem to be quite much, that should get you one of the nicest milling setups anywhere. The -20% (= -56.000) seem like a plausible difference between a new KRC4 and a used KRC2 robot, however I wouldn't buy a high-end setup for 220.000EUR and then put in a used robot.

A colleague of mine recently got a barely used KRC2 robot (KR180 or so) with 6m of rail for 25.000EUR (admittedly a good catch, more or less directly from a factory. Would cost more if you bought it from a seller that provides warranty etc.). Cheaper turntables usually go for around 7000EUR, while a nice milling spindle (10kW with HSK etc.) is 5000EUR. Add some smaller things, a few thousand EUR for safety fences, shipping, and installation and I would have assumed that it's possible to do it with an initial investment of 50-60.000EUR for the hardware. Things like safety certifications can drive the price slightly further up, I think we paid around 10.000EUR for an 80 pages report that basically just warned us of the dangers of wood dust ;)

Best,
Johannes

494
Hello Corey,

That sounds exciting! Regarding your questions:
1) No, but controllers are expensive to buy separately anyway so it makes sense to buy the robot and the controller together.
2) Both are good programs for milling. SprutCAM is one of the more affordable programs, so 30.000USD seem to be a bit much to me. We can import G-code via KUKA|prc so you could save money by buying just the 5-axis module and not the robot module, at least at the beginning while money is tight.
3) Depends, if you need it quickly and professionally it makes sense to get an integrator. That being said it's definitely possible to get the robot started by yourself, it only gets complicated if you have to comply with any safety regulations where you need some kind of special license. If you set up safety areas etc. you can greatly reduce the risk of rookie errors damaging the robot, but 100% safety doesn't really exist.
4) KUKA themselves uses spindles by HSD for their milling robots, we bought an HiTeco spindle a while ago. There is also a wide range of no-name spindles from China. If you want to use a linear track you will need a controller that can drive an additional axis. Upgrades are expensive, so this is something to consider during the initial purchase. You can usually buy used robots and equipment through KUKA, and there are also sellers like GlobalRobots.
5) We integrate new KUKA robots for free for our members, don't worry about that.
6) The MTBF (mean time between failure) of a KUKA robot is said to be around 80.000 hours. At 10h per day that would be 22 years. Of course you can always get a faulty unit or be especially unlucky, but even if you only get a half the hours it would still be 10 years.

In around two months there will be the Rob|Arch conference in Sydney, that would be a good place to get started. As a student member the registration fee is very affordable as well.

Best,
Johannes

495
Support / Re: Scrolling a large file on the KCP
« on: January 18, 2016, 12:27:29 PM »
Hello,

5.5MB is already quite much and will run into memory limits. For really huge jobs you will need software like CAMRob or KUKA.CNC, they circumvent the memory issues.
Consider removing old files from your robot folder - basically everything you put in there gets compiled and counts against your memory. Splitting files only helps with the lag, but the total memory is the same.
Quite frankly I don't know the exact version "cut-off", but there are issues with the BAS command in older controllers and ticking the box changes one line in the KRL file. If you can run KRL files with the default settings you don't need it.
KUKA|prc also contains an Reduce Toolpath component that works with LIN movements - may be helpful in your case!

Best,
Johannes

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