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Messages - Johannes @ Robots in Architecture

#511
Hello,

As KUKA doesn't publish any acceleration and deceleration ramps, the time is simply distance/speed. The unit is seconds.
So it's not super accurate for processes that often change speed, but relatively precise for processes with constant speed such as extrusion.
You can use e.g. the last time value for Galapagos to optimize the process time.

Best,
Johannes
#512
Support / Re: [bug] turntable visualization error
December 31, 2019, 04:25:01 PM
Hello,

Sorry that it took a while.
The reason for the problem was rather simple but took a while to find: You had the low-resolution robot model enabled and it seems that I made a mistake with the position of the low-resolution DKP400.
It will be fixed in the new release, in the meantime simply disable the "Render Low-Resolution Robot" option in the settings.

Best,
Johannes
#513
General Discussion / Re: remote desktop over KLI?
December 31, 2019, 03:49:53 PM
Well, if the smartPad is working then RDP should be fine. The default port for RDP is 3389, however I would be very careful with any network/firewall changes as that might lock out your smartPad.
You could also try to start the robot without the smartPad and see if you can connect then. Or maybe try RDP with another PC and make sure that no antivirus/firewall is blocking RDP on the PC side.

In the meantime, you can also consider using another tool like VNC to get the content of the smartPad.

Best,
Johannes
#514
General Discussion / Re: remote desktop over KLI?
December 31, 2019, 12:18:53 PM
Hello,

That is possible, but note that it will disconnect the smartPad's remote connection. You will need to rotate the key switch and connect again to use the smartPad.
The login should be kukauser with password 68kuka1secpw59

Best,
Johannes
#515
Support / Re: axis errors for continous circular movement
December 27, 2019, 03:28:56 PM
Hello Jason,

Please excuse the late reply, I was sick for a few days and then Christmas happened.
We're using X+ as the tool-axis, which is then mapped to Z in the CAD environment. So if you've got a tool that is normal to the flange (drawn along the Z-axis), you will need to rotate the tool axis with e.g. B=-90 for it to align.
In any case, the values need to be identical within the simulation and at the robot. When working with the iiwa, take care that some values in the UI are in radians.

Best,
Johannes
#516
Hello,

Go into KUKA|prc, then to the Utilities tab and get the Analysis component.
It will then expose the values to you!

Best,
Johannes
#517
Support / Re: axis errors for continous circular movement
December 17, 2019, 08:02:24 AM
Hello Jason,

The error ("Arbeitsraumfehler" = Workspace error) means that the robot cannot reach a given position.
The most likely cause as you mentioned are the tool and base settings. To see if the KUKA|prc code is running in general, try a simple file with just a few axis movements.
I've attached a screenshot where you can see how tool and base are set in Sunrise / how they are referenced in the code.

Best,
Johannes
#518
Support / Re: [bug] turntable visualization error
December 17, 2019, 07:56:37 AM
Hello!

Thanks a lot for sharing, that's a very interesting problem, sorry that it is occurring to you!
I'll look into it tomorrow and hopefully post a fix soon!

All the best,
Johannes
#519
Support / Re: axis errors for continous circular movement
December 16, 2019, 08:01:02 AM
Hello Jason,

In KUKA|prc we use the "old" notation that KUKA used for the KUKA LBR robots before the iiwa, where the extra, redundant 7th axis is called E1.
So what the iiwa calls A1 - A7 is in KUKA|prc A1, A2, E1, A3-A6.
Hopefully then the movement will match!

Best,
Johannes
#520
Support / Re: External Axis Output
December 12, 2019, 07:14:34 AM
Hello Andrew,

We recently integrated support for dummy axis, i.e. they take up a number but are not simulated.
It's not yet in the public release as we are currently quite busy putting several new features in and want to test it properly.
If you send me an eMail, I'll send you an unofficial build.

Best,
Johannes
#521
Hello Ahmed,

If the external axes are showing up the test license was installed correctly.
In order to get the Analysis output, check the "Output Analysis Values" box in the KUKA|prc Advanced Settings!

Best,
Johannes
#522
Hello,

I've replied to your mail and am sending you a temporary license to give it a try!
Let me know if you need any help implementing the members-only Analysis component to your workflow!

Best,
Johannes
#523
General Discussion / Re: where can i learn mxautomation
December 06, 2019, 08:14:59 AM
Hello,

Attached is the quick-start guide, I don't think it's confidential.
Before you test it with KUKA|prc, use the KUKA test program that you can get from the mxAutomation_2.1.6.2681\Example PLC\Programming languages folder of the tech package.
Once the KUKA program is working, you can proceed with KUKA|prc.

Best,
Johannes
#524
Support / Re: axis errors for continous circular movement
December 04, 2019, 10:37:32 AM
Hello,

The iiwa is very constrained within its reachability, if you change the initial posture from 110 to 010 it should work.
The setting is located in the Advanced Settings, in the Start-/Endposition section.

Best,
Johannes
#525
General Discussion / Re: where can i learn mxautomation
December 04, 2019, 10:31:26 AM
Hello,

We have a new license format, this is why you are encountering the problem. I assume your license is in the *.reg format?
Please send me the current license via eMail and I'll update it to the current format!

Best,
Johannes