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fantastic resource!
Support / Solution exception:The process cannot access the file
« Last post by victorlin on July 11, 2020, 11:25:08 AM »

I've recently been running into this issue:

1. Solution exception:The process cannot access the file 'C:\Users\Victor\Desktop\kukaprc_project.xml' because it is being used by another process.

but as far as I know, no other process is using it, and I've also checked simulate without KRL generation, but this still pops up.
Sliding the simulation slider will make the error go away but it'll popup again later.

I'm on the lastest version 20200519

Sorry if the explaination is no good, it's been a long day, attached is the file with the error.


General Discussion / Re: how to setup MXA module in PRC
« Last post by pyw110001 on July 10, 2020, 08:38:24 AM »
Dear Johannes,
thx for the reply. the KSS is 8.5.7 HF and MXA v3.0.3. I've tried many times but still can't get it to work. :'(
The error code is shown in the figure. In order to successfully run the DEMO program I set the $MOVE_ENABLE port to 2060, does that matter ?
Do I need to open any programs when under EXT mode?
Thanks a lot for sharing!
General Discussion / Re: how to setup MXA module in PRC
« Last post by Johannes @ Robots in Architecture on July 09, 2020, 11:17:35 AM »

If you got the KUKA software to work, most of the work is done.
The problem is most likely related to the mxA version - KUKA|prc should present you with an error number if it doesn't work, which you can look up in the manual.
If you let me know the exact version number of your mxA, I can send you a specific build that uses your version of the library.
The physical IP only applies when you are running mxA on a virtual robot controller. Unless you are using multiple robots, leave the ID at 1.

General Discussion / how to setup MXA module in PRC
« Last post by pyw110001 on July 09, 2020, 03:57:44 AM »
hi,everyone, i'm having trouble with the setup.
The current situation is that i've installed MAX(3.0x,My KSS is 8.5) on the robot and the UPD_Server Example has been successfully run,but it didn't work in PRC.
I've disabled the firewall on the PC. I'm not sure if there is a problem with the MXA settings, can someone help me, do i need to set up Physical IP on Mxa Module,is that my PC IP address or somethingelse, and where can i get the Robot ID?
Tutorials / Calibrating External Kinematics - DKP 400 Turntable with 2 Axis
« Last post by petrvacek on July 08, 2020, 02:00:45 PM »
Hello everyone

I have an experience with calibrating DKP 400 turntable with 2 axes. The calibration process was tricky and I had to experiment, because it was not so obvious from other tutorials and nor from this forum. When I followed available description of steps, I always ended up with DKP table base placed somewhere else but the proper position. So I exchanged many mails with Johannes, trying to solve the issue and find out the proper setup. Now I want to share it with you. Feel free to comment your experience and have fun! ;) 

Robot - KRC
  • Calibrate any tool, that has sharp TCP. Use standard 4-point calibration method. Save the calibration under any available number.
  • Calibrate External Kinematics Root Point. Follow instructions and use previously calibrated tool. Calibration mark of DKP-400 is a little cross engraved into it's flange. You get XYZ ABC coordinates of DKP table root point. Save the base under any available number (mine is #10).
  • Set DKP table to original position (no tilt) of any axis.
  • Calibrate Offset Base of External Kinematics. Use previously calibrated tool. Follow instructions: First you have to place TCP to the origin of new base, which is the center of DKP flange (I used paper tape to fill the hole and mark center point exactly). Then move TCP to any point in X direction (in my case it was calibration mark). And finally move TCP to any point in Y direction (I marked perpendicular line onto DKP flange). Write down values XYZ ABC.
  • Calibrate a new base and save under any available number. Steps are the same as previous, but now it's NOT "offset base" but just "base". Write down values. Write only Z value.
  • Check calibration. Move external axis E1 or E2 and check TCP behaviour. If everyhing is calibrated correctly, TCP will move relatively to DKP 400.
  • Set up a definition with DKP component and right click it to set values. Use XY ABC values from "offset base", step 4). Skip Z value.
  • IMPORTANT: Use Z value from "base calibration", step 5). Apply values.
  • Open Robot Core component to set robot base values. Use "offset base" values from step 4), now including all values (in my case it's 0,0,0,0,0,0). Set proper base number, which in my case is #10.
General Discussion / Re: [Misc] How to simplify mesh
« Last post by Johannes @ Robots in Architecture on July 06, 2020, 07:48:33 AM »
Hello Victor,

There are various approaches. For some models I used the Rhino command ReduceMesh.
Simplygon is free and can be nicely automated, so I also used it for a few models:
And finally I played around with the demo version of Moi3D (, which generates pretty nice quad meshes out of NURBS - it wasn't significant enough for me to buy the software, though.
I'd say the reduced meshes are 60% Rhino, 35% Simplygon and 5% Moi3d experiments.

Hope that helps!
General Discussion / [Misc] How to simplify mesh
« Last post by victorlin on July 05, 2020, 06:42:21 AM »

I'm working with meshs recently, and i'm having difficulties simplifying the mesh without affecting the overall shape and quality too much.
I've noticed that the mesh models of PRC is quite nice, mostly quadmesh with decent shape and quality.

So i'm wondering if there's a recommended workflow in simplifying meshs.


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