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Support / Re: Tool tip orientation
« Last post by Johannes @ Robots in Architecture on Today at 08:36:02 AM »
If you put your mouse over the "Orient Point" input the tooltip will tell you "One locally defined value...".
I just set the point by right-clicking the input and choosing "Set one point". You then need to decide in the Rhino command line between referencing an existing point or setting a new coordinate.
You can embed referenced data in input by right-clicking and "Internalize". "Extract parameter" instead makes a separate node with your point component, in that example.
Sorry, that is hard to troubleshoot remotely.
Some things I noticed is that you config file has got an SRC extension while it should have XML and that PROTOCOL is written PROTOCAL. That might cause Ethernet.KRL to default to TCP (instead of the UDP you set).
I explained in my previous post how to do it in a loop in the background. You can also split your logic into two XML configs, one for receiving in the background and one for sending in the program. Might make things easier.

Support / Re: Can not stream E1 continuous when command stepper motor
« Last post by Settawat on Today at 05:43:07 AM »
Dear Johannes
  Thank you for your reply. I have tried to do it but my problem is not fixed. I require to know what cause problem is will make kuka robot (client) disconnect from nvidia jetson nano (server).
Best regards,
Support / Re: Tool tip orientation
« Last post by kratzsci on May 06, 2021, 02:53:31 PM »
That is precisely what I'm trying to do! How did you make this work without setting the "Orient Point" for the "Orient Plane" block. When I try to recreate your program for my own program, I get an error when I leave the "Orient Point" blank.

Your robot is running a file called sps.sub continuously in the background. You can define your own .sub file with KSS 8.6 (maybe also 8.5) and run it next to it, or put your code directly into the sps.sub file, within the "loop" part. Never put anything that is blocking (e.g. movement) into the sps.sub, though.
Also, in case you are doing that with Ethernet.KRL, set it to "Submit" instead of "Application".

Support / Can not stream E1 continuous when command stepper motor
« Last post by Settawat on May 06, 2021, 09:35:32 AM »
I have got this problem when I connect  Kuka compact c4 (client) with Nvidia jetson nano(server) then have stream E1 value in real-time and sent to Nvidia jetson nano for command stepper motor but it can send only 1 value of E1 then it shows "wait for connection" so I have identified this problem by using Kuka compact c4(client) connect with my laptop(server) so try to cut python code so I found the problem is from 1. I have to use the loop function such as for, while 2. I have a use sleep function.
because if I did not use the loop function and sleep function so this program can stream E1 continue. How can I use the loop function and sleep function and get stream E1 Continuous?

note: I have attracted file python (server) and krl (client)
Support / Re: Tool tip orientation
« Last post by Johannes @ Robots in Architecture on May 06, 2021, 09:25:51 AM »
Are you looking to do something like this?
The orientation of the tool depends on the orientation of the coordinate system (in Grasshopper: "Plane"). In my example, the orientation is set based on the parametrization of a NURBS surface.
Support / Tool tip orientation
« Last post by kratzsci on May 05, 2021, 09:55:20 PM »
Good afternoon,

I'm currently trying to get my KR 3 R540 with KR C4 compact to touch multiple sides of a cube. I'm doing this with a cylindrical tool and I need the tool to be flush with the side it's trying to reach. I've been able to get it to work with a single side by changing the tool axis rotation to -90 degrees in the custom tool block. I'm not sure how I can continue changing this without creating multiple separate programs. Does anyone have any suggestions on how I can change the angle of my tool tip throughout a single program?

Thanks for the help!
Support / Re: KR3 .dat file
« Last post by Johannes @ Robots in Architecture on May 05, 2021, 07:56:21 AM »
So that's the pretty old KR3 that looks a bit like a duck? You may need to check the box for improved compatibility with older KRC2 controllers in the Code settings.
But the *.dat file itself just stores some variables, and KUKA|prc puts all data into the *.src file. So if your files are not showing up that may be linked to an invalid project name (e.g. an empty space somewhere). Compilation errors might be solved by the compatibility option I mentioned above, it just changes a single line.
Support / KR3 .dat file
« Last post by JadeStud on May 04, 2021, 05:59:48 PM »
We try to activate our Kuka KR3 with Kuka|prc. We have a KRC2 Controller for the robot.
Besides the .src file our robot needs a .dat file. Is there any chance to generate a .dat file with kuka|prc?
Thanks and best regards, Gregor
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