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Messages - Johannes @ Robots in Architecture

#76
General Discussion / Re: setup MXA module in PRC _ Query
November 10, 2023, 12:21:07 PM
Hello,

You need to take care that the mxA version in KUKA|prc matches with your installed KUKA|prc version. You also need to set the (KLI) IP address of the robot. I believe the default is 192.168.0.2 (which is used in OfficeLite), the KUKA standard is 172.31.1.147. Just use the same IP as in the UDP_Server_Example.

We often make specific builds for our members. As you are not registered as a member in the forum, could you please send me an email (johannes@robotsinarchitecture.org) with your exact mxA version as, ideally from a domain that verifies your affiliation/membership?

Thanks!
Johannes
#77
Hello,
Custom mechanical engineering jobs are usually quite local, where are you based?
From my own experience: Try to buy a servo motor with a simple flange, that will make the search for the gear drive much easier.
Best,
Johannes
#78
Hello Alex,

Here's the (German) link to the event in November!
https://events.kunstuni-linz.at/veranstaltung/digital-werk-campus/

Best,
Johannes
#79
Hello Alex,

Unfortunately I'm not aware of any makerspace with a robot in Vienna - though the Grand Garage in Linz has got one. We are currently planning a 2-half-day workshop before the Panorama Festival in Linz (https://panorama.edih-innovate.at/). Let me know in case you would like some more details about that (johannes@robotsinarchitecture.org).

Best,
Johannes
#80
Support / Re: issue between simulation and reality
October 25, 2023, 08:28:27 AM
Hello,

Please understand that these things are hard to troubleshoot remotely, so a lot is guesswork.
Just from looking at the code, you are making a seemingly large movement after a toolchange as a LIN - I would try using PTP instead.
On the other hand it seems that you keep the Cartesian position in a similar area but rotate by 150 degrees, so the rotating does not seem that unlikely.

One last comment to the GH file, you marked the panel where you have got a transition of exactly 180 degrees from 270 to 90 degrees. These things are tricky because the robot could choose either direction to get there. Maybe going from 270 to 271 or 269 would help.

Best,
Johannes
#81
Support / Re: issue between simulation and reality
October 23, 2023, 08:09:47 AM
Good Morning,
I should have some time with our Cybertech today, which has got an external axis on KSS 8.7 (being nearly identical to your 8.6).
However I assumed that you were having constant issues, i.e. once the axis leaves E1=0 and the base gets rotated. Is the movement fine below 90 degrees? That would be an important, new factor.
Best,
Johannes
#82
Support / Re: issue between simulation and reality
October 17, 2023, 06:04:11 PM
Hello,

The GH file looks plausible, with base 4 at all-zero. However in your screenshot there is a base 6. Was that the measured base (using 3-points)? The values seem to be in relation to the robot-Origin rather than the turntable-Origin.
What KSS version are you running? KUKA changed a few UI things relating to tools and bases.

Best,
Johannes
#83
Support / Re: Welding Capabilities in KukaPrc
October 17, 2023, 05:29:10 PM
Hmm... From looking at the file the main commands are Arc_On and Arc_Off. You can ignore anything with a semicolon before the line - that only provides metadata/comments/folds.
The referenced parameters (AS_WDAT3, AW_WDAT3, many more) are taken from the DAT file. They seem to be individual to each position, however I don't see any reason why you couldn't re-use them for multiple positions. DAT files need to have the same program name as the SRC file and you can only see them in Expert mode.
So I'd say it's feasible, however I cannot estimate if there is a risk of breaking something with wrong parameters. Definitely be careful if you decide to experiment!
Best,
Johannes
#84
Support / Re: Welding Capabilities in KukaPrc
October 13, 2023, 10:23:35 AM
Hello,

Personally I'm not a welding expert but I have seen KUKA|prc used for high-end welding and metal-additive processes. From a software point-of-view your best bet would be to use the Custom KRL commands - these KRL commands taken from your reference file are written into the KRL file at the set position, but not simulated.
But as you mention, it is important to understand what those commands are actually doing. The screenshot you posted shows an in-line command, so you definitely cannot just enter ARCON to start welding and ARCOFF to end it. I would recommend taking a look at the LAYERTEST2.src and LAYERTEST2.dat file in WorkVisual or in a text editor to find out what it is actually doing.

I believe ARCON is part of KUKA ArcTech, so take a look at the documentation provided by KUKA. It looks like you might have to replace movement commands with those specific commands, which by default you cannot do. What you could do is post-process the KRL file and e.g. change every LIN command to a welding-specific movement - maybe.

Technically we could add the arc-specific commands as a postprocessor option like CAMRob and CNC, but that is not really on our roadmap at the moment. KUKA|prc grows with our own projects, so a welding project could add that functionality in the future.

Best,
Johannes
#85
Awesome, thanks for the update!
#86
Hello,

I sent you a message via the forum regarding that.

Best,
Johannes
#87
Hello,

That sounds very much like a Grasshopper limitation. Could you try putting the Analysis component into a cluster and check if that makes a difference? It may be just GH trying to display a huge text file...

Best,
Johannes
#88
Hello,

Grasshopper really does not like dealing with long lists of data. Does the freeze happen also with less complex files? If it's not the project size, could you share a file where it happens? Thanks!

Best,
Johannes
#89
Hello,

You are probably running KSS 8.3 or 8.2, they changed the UI slightly for KSS 8.5 onwards.
I'd recommend searching for "kuka system software pdf" or going via KUKA Xpert to get the right manuals for your robot/controller. There is a whole section on tool and base calibration that also guides you through the UI. In your particular case the options are behind the "Calibrate" button.

Best,
Johannes
#90
Actually, from your photo you can see that the key is inserted - where that robot/lock symbol is.
Best,
Johannes