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Hi !

I have finaly managed to set-up a digital input and output on my KRC2 !
Then I made a little program to check that the output was working, and it works ! Now I can switch a relay on or off at the moment that I please, but I haven't tested the input yet.

I wish there was a "Input listener" component.
I suppose that the only way to integrate inputs at the moment is through a "Custom KRL" component.
Could someone send me a code snipet to see what the correct syntax is ?

Thanks !

...but I haven't found any sample file.
My guess is that it works only with absolute values for axis angles, which makes it not useable if you want to make a relative axis move, right ?
I remember that you suggested to use this to "unwind" and axis, but I can't see how this can work...

Cheers,

Hi !

It seems to me that the "Play" simulation feature becomes impossible to pause or reset in certain circumstances.
In simulations with many waypoints, this "locking" seems to occur quite often.

I guess I should always save my definition before running "Play" so that I can just crash Rhino and restart, but is it possible to give the user more control over this ?

Cheers,

Hi !

My plasma torch comes with an tension divider output.
What that does is give you the value of the arc tension divided by a fixed number (to avoid frying the analog input of the robot).
This information tells you if the material you are cutting is too far away from the torch, which can occur if your sheet metal is not completely flat or if your more complex part is not exactly the shape that you have modeled in the simulation.

What I would like to do is to increase or decrease the "X" of the tool axis which will always be normal to the surface in my case, thus it will increase or reduce the torch distance to the material in order to produce a better cut.

Am I dreaming or is this feasible ?

Cheers,

Is there a KRC cabinet ports list ?
You know...all the yellow labels (X100 , K3, A2, etc...)

Cheers,

Hi !

I need to set up analog I-O modules (Beckhoff) in my robot's KRC2 cabinet to control a plasma torch.
I have found no help in the documentation on how to declare/configure those.

Could someone point out to some tutorial on the subject ?

Cheers,

Hi !
It seems to me that the color logic used in the tool options for the tool coordinate system do not match that of the simulation.

Cheers,

Hi !

A friend of mine wants help to set up a robotic grinding cell for forged hand tools.
The main problem that I see here, since the forged raw parts are somewhat rough, there is a need for some kind of geometric inspection to determine the time it will take to grind.
Any suggestions for optical measurement devices I could hook-up to my controller to make adjustments during the execution of the program ?

Cheers,

Hi !

I am working on a milling definition, and this time, it's not just fooling around.
I need to generate a first "Roughing" pass, and then a surfacing pass.
For the later, I can see how KUKA|prc can do a better job than even dedicated milling software because it is in fact real 6 axis milling, and I can mill with the milling bit normal to my workpiece at all times if I want (provided that I can avoid colisions).

Yet, the  "Divide surface" component has two major drawbacks :
-It works on a surface, not on a polysurface, and of course not on a mesh.
-It derives the trajectories from the isocurves which is similar to the way rhino builds meshs, but as we all know, has lots of drawbacks and sometimes produce really bad results.

Now for the roughing, it's got to be made into a definition by the user ; there doesn't seem to be a KUKA|prc component that will do this.
So this is a wishfull call in case someone has already worked on this, because although it's an interesting problem to solve with Grasshopper, I suspect it is going to gobble up all my programming time.

I know there is a plug-in called IO that will supposedly make "one-click" roughing, surfacing and pocketing.
Unfortunately, it is too expensive for me, and really, I am quite suspicious when a tool claims to do complex stuff with "a simple click".

Cheers,

The Hypertherm representative is proposing two versions of the plasma cutter we want to purchase :

-One with a "ModBus ASCII serial protocol"
-One with a "CPC" port

I understand that the "Modbus" allows to control more parameters like arc intensity and air pressure, but first and foremost, I want to be sure that these connectivity types are compatible with the KRC2 controller.

I'd also like to know what kind of hardware will be required to make the connection.

Cheers,

I would like to test pyrography with Wall-E using a pointy soldering iron.
I figured that, depending how long I let the tip of the iron in contact with the wood, it would make a difference in the size of the burn mark.
But then, I went hunting for a "Pause" component, and figured there was none, unless I hacked a "LIN" component with a very small distance and a ridiculously small speed, adding many lines to my program.
(I have a KRC2, remember ? I'm on a budget).

Is there a "clean" way to pause the robot and choose how long it should stay paused ?

Cheers,

Hi !

I thought I'd take a shot at milling a photograph.
Here, I used a conical carbide bit to mill a laminated particle board at various depths.
Here is the video : https://youtu.be/IzkFzCzSh_w
Picture of the final result and Grasshopper definition are attached.

Cheers !

I knew there was a size limit to krc2 program, and bam ! I hit it today.
It's around 30 000 lines :(
Next time, I guess I'll use the split function in the KUKA-prc code settings.

At some point, I needed to move up and select a previous line in the program on the KCP, and found out that the elevator on the side was completely wonky.
It either brought me back at the start of the program, or would just scroll super-slowly.
I suppose that this is because of the large number of lines, but is there a way to move to a specific line number by just typing that number ?
Couldn't find it...

Cheers,

I wish that there were two speed settings for the "Tool axis offset" component.
In fact, with some applications like milling, you might need to set the offset movement to a slow speed because you are going to "dig" into the material, but between an offset "end" and the "start" of a new one, you would like the "flight" speed to be higher because that's when you are out of the material.

With my 2D cutting definition, if I set a high speed for this component, I hear a popping noise each time the mill bit hits the panel and drills into it ; I don't like that...
If I set the speed low, the "fligh-over" takes ages...

Cheers,

Ahem... I wrote a message with a question, and found the answer by myself 3 minutes later.
Since there's no way to delete a message (or maybe I'll figure that out in 2 minutes), I find myself writing this stuff, and probably making a fool of myself even further.

Errr...Happy new year ?

How can I create a full circle path ?
It would seem obvious to use the "Circular movement" component, but it will only work with a three point input ; therefor it is not possible to descibe a full circle, but only an arc.

I could think of messy workarounds, but is there a better workflow for such a ubiquitous trajectory ?

Cheers,

My milling simulation works for the first two passes, but then the Axis 6 gets wound-up passed it's angular limit.
In fact, it makes a complete turn at each pass.
Between each pass, I have added a cartesian offset to avoid hitting my part. That would be the right time to also "unwind" the axis, but I can't see how to do it.
Wouldn't it be nice to add this as an optional parameter in the "offset" components ?

Help... :)

Did anyone already work on a GH definition to prepare curves for 2D cutting ?
-Sort "inner curves" to be cut before "outer curves"
-Offset curves to account for tool width
-Add small"lead in"  segments (on the proper side of pattern) to avoid starting off on part edges
-etc...

Cheers,

I recently ran a program on my KR6-arc, and although there was no warning in the simulation, during the execution, I hit a "A3 angle software limit".
It was easy to fix since I just had to offset my work a little and generate a new program, but I though that this should not happen.
I also looked for a way to visualize the settings from pre-defined robots, but , apart from using the simulation graph, I couldn't see how to do this.

Cheers,

What is the trick to prevent the log from switching to "Operator" ?
It sucks so much to monkey around with the buttons and enter the silly password all the time to be able to work with my robot...

Cheers,