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Messages - ludo

Support / Re: issue between simulation and reality
October 23, 2023, 08:52:15 PM
Good evening :-)

I test again, this program always cause issue.
I attach the GH programm and embeded image of the issue and highlight in a panel  the position that cause problem.
Support / Re: issue between simulation and reality
October 22, 2023, 06:40:32 PM
yes the base 6 was measured from the robot $Nullframe. Form the robot origin.

I use KSS8.6.10 and think that in the KSS8.6.10 the coordinate of the base assigned to rotary axis is and offset base, so if base 4 assigned to the rotary axis has all itscoodiante with 0, these base is in the center of the rotary axis with no offset.

Do you think i should use the kuka prc with another value to get coorect simulation. The issue comes when i want to turn the E1  more than 90 degrees and flip plane.

Thanks in adavanc,
If you want more detail and simulation issue, i could do it.

Support / Re: issue between simulation and reality
October 17, 2023, 01:33:02 PM
I measure the base (base N°6) attached to the rotary axis KP1H;

 when i assign this base to the Rotary axis, then the base 6 is offset from the rotary base, For instance, the origine of base 6 in in the center of the KP1H, but when i want to to go 0,0,0 in base 6, My robot fo this :


I guess it could came my misunderstanding of the "External Kinematics Rotary axis" in KUKA PRC Core.?
I join a definition that cause the difference betwen simulation and reality. (

Support / Re: issue between simulation and reality
October 03, 2023, 11:59:02 AM
At the beginning, I measure set the turntable with a sharp tool and get this.
X : -493
Y : 2854
Z : 1103
A : 36.05   B : -44.9   C : 90.74

Then i create a base attached to the turntable base with a null offset.
The simulation and the robot path are accurate.

Do you say that i must set the turnatble base with
X= Y= Z =0
A= 36.05  B -44.9  C 90.74

And set the base offset
X : -493
Y : 2854
Z : 1103
A=B=C = 0

I try it tommorrrow to see if there is a change.
Support / Re: issue between simulation and reality
September 27, 2023, 07:34:04 AM
Hello, sorry I took a screen shot without change the language to be clerly explicit to all the community.

So, yes i set the rotary as a base (base KP1) and set the base (base 4) is an offset to the E1.

Yes,  When in use cartesian move in the base 4 and turn the E1 the TCP is not moving accordingly to the E1 (no relative move form the KP1)  the TCP always pointing a fixed point ine the KP1 and KP1 is turning.
Support / Re: issue between simulation and reality
September 25, 2023, 05:19:42 PM
 i Measure the turntable, and set it as a "cinematic couple"  Screen capture "Externalaxis.jpg"

And i define a base attached to this External axis : screen capture "Rotary base.jpg"

The simulation is Ok for 5 GH def and the sixth one is not correct.
Support / issue between simulation and reality
September 22, 2023, 04:31:04 PM
i have an issue between simulation and the real movements.
I am facing tese issue for some definition not all.



A long time ago (2015) you said to check the status and turn.
I use stauts "As start" and I use Only linear and axis movement.
The Axis movemet is use to "unroll" the axis and reach a safe position when the External axis turn.

Is there a menu to check the status and turn on the robot side / Controller KRC4?

Tutorials / Re: Tutoriels premiers pas (FR)
October 24, 2020, 08:35:40 AM
Bonjour Tess,
belle initiative de diffusion de la connaissance de l'utilisation de kuka PRC en francais.

Tu es où ? dans quelle école.
Pour l'instant, il y a quelques autres français qui utilisent kuka prc
- Wall-e et moi même (nous sommes sur la carte des membres RIA) a ma connaissance...

General Discussion / "new component" request diO/output
February 18, 2017, 11:10:29 PM
Hi johannes,
is it possible to increase the number of dIO in the dIO component to 16 Outputs ?

I would like to use the 8-9-10-11 DIO output ?
Or could you create a DIO component where we can choose, select the Number of the outputs we only use ?

What is the purpose of this component ?
For example i would like to command a servo at a specific moment (or position or what else) like in the robot arch 2014 workshop - Superflex.
How can i use this command ? to control the servo ? does the infos go trough the plc or there is some wioring between the krc4 and the servo in order to conect the External axis.

General Discussion / Re: Roughing ?
February 02, 2016, 05:02:54 PM
have you try the 5 axis maker software?
They developp a gh definition for milling 3d shapes

see more detail in their website "5 axis"

Support / Re: No "Pause" component ?
January 27, 2016, 04:17:28 PM
Hi wall-E and Johannes
I don't use the serial port i connect my arduino to the PLC with a screw shield : image below
i connect the robot outputs to the arduino through voltage divider24V-> 5V and solid state relay 5V --> 24V for robot inputs: image below


Support / Re: No "Pause" component ?
January 26, 2016, 01:01:12 PM
wall E
here is an example with custom krl command for wait.
Support / Re: KUKA PRC and Stäubli RX170HP 6-Axis
January 26, 2016, 08:18:18 AM
Hi kerber,
for generate staubli code you could try to get in touch with sci-arc, they have staubli robots and they developp a plugin for grasshopper (CRane grasshopper components have been created by brian harms)

you could retrieve the benchmark of several robot control plugin that i have done here :

Hope that help

Support / Re: No "Pause" component ?
January 26, 2016, 08:10:55 AM
hi wall-E code to pause is
wait sec 3
for a 3 sec pause tou could also give a real value like 3.15

YOu also can code a waiting for an input from your plc like :
wait for $in[1]==true
for waiting until input [1] is not true