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Tutorials / Re: Example: KUKA LBR iiwa and Sunrise
« Last post by Johannes @ Robots in Architecture on February 15, 2019, 08:25:46 PM »
Hello,

Arbeitsraumfehler would relate to the work envelope. Did you setup the tool and base in the Sunrise Workbench and then also set the right names in the code that calls the KUKA|prc library?
Also make sure that you can switch the Sunrise Workbench between degrees and radians, so the angles need to be in the right format.
Regarding the path, take a look at the PRC_FileChooser.java file, which extends the JFileChoser. You should be able to set a different default path there.

Best,
Johannes
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Hello,

Base 17 is nothing special by itself, you need to make sure that you don't calibrate a regular Base system, but an Offset base.
For an offset base, the zero point is not the base of the robot, but the base of the turntable. So the values will be comparably small.

Best,
Johannes
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Support / Re: KR C2 moving in circular motion rather than programmed path
« Last post by Ivanescu on February 15, 2019, 10:06:12 AM »
It is perfectly synchronized now (when you move E1 robot fallows the point).
Now i get working envelope exceeded.

1. I have selected in PRC base 17 (it is with 0,0,0...) when i input base 17 coordinates it is far from the robot.
2. I have the corect XYZ input in Turntable component (Distance from the base of the robot)
3. The correct tool is selected.
4. I have tried with hard core base and tool from code page activated.
5. I have tried to manually modify Base 17 in the file.

CustomTurntable file has the same result. 

Base 17 in PRC shold be 0 or Turntable flange position ?
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Tutorials / Re: Example: KUKA LBR iiwa and Sunrise
« Last post by evo85210 on February 15, 2019, 09:07:29 AM »
I'm having some trouble with this example in particular, it's giving me an error in German (arbeitsraumfehler) and I'm not quite sure what it means.
I think it has to do with a bad setting on my iiwa?

if someone can give me some pointers on how to solve this, that'd be great.

----
side note: is it possible to set the default directory to a specific location else instead of documents?
this iiwa is being set up as a shared robot, I don't really want users getting confused when selecting the directory
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Then I would start there, calibrating the root point and then making an offset base.
The software setup should come afterwards!

Best,
Johannes
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Support / Re: KR C2 moving in circular motion rather than programmed path
« Last post by Ivanescu on February 14, 2019, 08:13:00 PM »
It is a made rotary table with a kuka motor and gear box.
No it is not syncronised.
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Two cables should be fine!
Let us know if it works!

Best,
Johannes
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Hello,

But is it synchronized? If the robot and table move nicely together and only the simulation is off, I'd rather leave the hardware as is and change the model of the turntable.

Best,
Johannes
9
Support / Re: KR C2 moving in circular motion rather than programmed path
« Last post by Ivanescu on February 14, 2019, 09:27:53 AM »
I have the same problem, the arm is moving radial with the table. How can it be fixed ?
Calibration and the position is correct.
Base 17 is with correct position (rotary table coordinates) and it is selected in base in PRC.
The rotary table is moving in opposite direction than the simulation !
On the robot when moving manually + is clockwise looking from top ... is this correct ?
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General Discussion / Re: Integrating 7 axis on KR150 KRC2 ED05
« Last post by designfugitives on February 13, 2019, 10:02:49 PM »
Glad to hear to motors are "backward" compatible.  As for connections, we have a cable labeled XM Axis 1 Pos 2/1 and another labeld X81.  They both hook up to 7axis motor.  Haven't looked at where they will go on the cabinet yet.  Any other cables/connections?
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