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Messages - Johannes @ Robots in Architecture

#91
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
#92
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
#93
Awesome, thanks for the update!
#94
Hello,

I sent you a message via the forum regarding that.

Best,
Johannes
#95
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
#96
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
#97
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
#98
Actually, from your photo you can see that the key is inserted - where that robot/lock symbol is.
Best,
Johannes
#99
Hello,

Karl captured the smartPad footage from OfficeLite (I guess), which is a virtual controller without any hardware attached. On the physical smartPad you will have to turn the key on top of the smartPad. Then you get a new window where you select AUT and then turn the key back.
If that key is missing, then someone does not want you to switch into AUT mode.
Via KUKA Xpert you can also access all the manuals where those basic handling aspects are well described.

Best,
Johannes
#100
Support / Re: issue between simulation and reality
October 04, 2023, 12:24:09 PM
Hello Ludo,

I am worried about the null offset. It would be great if you could calibrate the offset base by three points and see if the values are really close to zero! If the XYZ values are not, then we have something to look into.

Don't do any subtractions/additions, that just ends up in chaos and masks the real issue, if there is one.

Best,
Johannes
#101
General Discussion / Re: Query - Custom User Keys?
October 02, 2023, 12:28:10 PM
Hello,
I believe that you need KUKA UserTech for that! The search term would be "KUKA softkey" or something like that.
Best,
Johannes
#102
Hello,
I would see state machines and behavior trees as typical examples for such design patterns, yes.
The reason why there isn't a standard is probably the lack of standardization in robotics.
What is a reasonable approach with software X may be completely different in software Y - e.g. the geometry-heavy, visual programming based approach of Grasshopper versus how ROS is used.
Same applies to robot brand X versus robot brand Y.
So unfortunately I cannot offer any good advice here...!
Best,
Johannes
#103
Hello,
That seems to be working as intended, the last value is E1=90 at then you defined the straight line with E1=0, so you have got the 90 degree turntable rotation in-between.
I cannot really think of a easy way to get rid of that (technically you could rotate the line by -90 degrees and keep E1=90, but that is a bit of a hack). But if the turntable movement is slow I would just use a PTP movement between the end of the spiral and the beginning of the line. That should speed things up!
Best,
Johannes
#104
Support / Re: issue between simulation and reality
September 27, 2023, 11:06:45 AM
Hello,
I see that your Base 4 is all zero, could you try to calibrate it via 3 points? The resulting values should be in relation to the origin of the turntable (rather than the origin of the robot). So very low numbers if it is close to the root point of the turntable.
Best,
Johannes
#105
Support / Re: issue between simulation and reality
September 25, 2023, 09:25:46 PM
Hello,

Sorry, I don't know the terminology of KSS in French compared to English and German, so I have to ask again: Did you calibrate the base as an offset base, rather than a normal base?
With an offset base, if you rotate E1 in a Cartesian movement mode, the robot tool will keep its position in relation to the turntable, i.e. it will rotate around the tool axis.

Best,
Johannes