Recent posts
#21
Support / Re: Setting Up DKP400 Virtual ...
Last post by GATECH_DFL - June 03, 2025, 08:55:40 PMAnother question. I've programmed the robot to mill a symmetrical vase, the turntable turns and the robot simply needs to move up and down. However, I am getting a lot of unnecessary movement of the robot (it will move with the turntable, the TCP staying at the same point on the geometry), then the turntable will spin and the robot head will stay still so it can mill a path. Then it does the same thing (moves with the turntable, then back, then the turntable moves and it mills the next path). How can I remove this unnecessary movement? I was thinking of using Galapagos, but there aren't any parameters I can plug it into to change this.
#22
Support / Re: Setting Up DKP400 Virtual ...
Last post by Johannes @ Robots in Architecture - May 28, 2025, 10:42:14 PMHello, unfortunately while you provided a lot of details, I cannot fully troubleshoot it remotely. Some thoughts from my side:
It reads as if axis movements are accurate, this is why the first movement works nicely.
The rest points either to a wrong base calibration (should be offset base, not the normal base calibration!) or an error in the axis setup. Maybe the external axis is turning in the wrong direction or E1/E2 are switched?
"Wrong" being only in relation to the simulation, there are plenty ways to set up external axes.
Best,
Johannes
It reads as if axis movements are accurate, this is why the first movement works nicely.
The rest points either to a wrong base calibration (should be offset base, not the normal base calibration!) or an error in the axis setup. Maybe the external axis is turning in the wrong direction or E1/E2 are switched?
"Wrong" being only in relation to the simulation, there are plenty ways to set up external axes.
Best,
Johannes
#23
Support / Re: Setting Up DKP400 Virtual ...
Last post by GATECH_DFL - May 28, 2025, 08:34:34 PMI am having the exact same issue every time I start a new program. The robot first goes to a point near the table where I have directed it, and then using the tutorial file for turntable you had posted, I have created a geometry on the table. The table begins rotating, but every single time the robot moves to the exact same position, where it maxes out A1 and A2 and turns the tool back towards itself. If I change the side of the geometry the robot should milling on, it still goes to this same position. The simulation works fine, but there seems to be an error translating to the actual robot. Is this a common error/easy fix?
#24
Support / Re: Axis values of current Rob...
Last post by Johannes @ Robots in Architecture - May 26, 2025, 08:02:17 AMHello Martin,
Just thinking out load here, but could you simulate the toolpath in high accuracy, output all axis values from the Analysis component and then simulate the path by extracting a single set of axis values from that large list and displaying it / doing whatever you need to do with it?
So you get a fine, interpolated list from the first simulation pass and then use a second Core component to simulated the selected set of axis values.
Otherwise, we are internally using a new version of PRC that enables that quite a bit easier.
Best,
Johannes
Just thinking out load here, but could you simulate the toolpath in high accuracy, output all axis values from the Analysis component and then simulate the path by extracting a single set of axis values from that large list and displaying it / doing whatever you need to do with it?
So you get a fine, interpolated list from the first simulation pass and then use a second Core component to simulated the selected set of axis values.
Otherwise, we are internally using a new version of PRC that enables that quite a bit easier.
Best,
Johannes
#25
Support / Axis values of current Robot p...
Last post by MartinDembski - May 23, 2025, 06:17:45 PMHello,
the last days I've tried a lot workarounds but non of them worked for my problem.
Therefore I dicided to ask here, if someone has an idea.
I need to get the changing axis values of the Robot during simulation outputed as a continuous live stream of all axis values.
In the Analysis Component I can get the Axis values of the inputed CMDS positions and the Axis values of the interpolated Frames, but according to the interpolation division there are still larger gaps between these values and if I set the division value to a very small value to get close, then the simulation is just because of this high amount of divisions far from being fluent.
It would be great to get this values directly outputed from the KUKA|prc Core Component or in an separate Output of the Analysis Component and still have a fluent simulation.
Is there any other chance to get this values as continous live stream when simulating the Robot?
Thanks in advance.
Cheers,
Martin
the last days I've tried a lot workarounds but non of them worked for my problem.
Therefore I dicided to ask here, if someone has an idea.
I need to get the changing axis values of the Robot during simulation outputed as a continuous live stream of all axis values.
In the Analysis Component I can get the Axis values of the inputed CMDS positions and the Axis values of the interpolated Frames, but according to the interpolation division there are still larger gaps between these values and if I set the division value to a very small value to get close, then the simulation is just because of this high amount of divisions far from being fluent.
It would be great to get this values directly outputed from the KUKA|prc Core Component or in an separate Output of the Analysis Component and still have a fluent simulation.
Is there any other chance to get this values as continous live stream when simulating the Robot?
Thanks in advance.
Cheers,
Martin
#26
Support / Re: Setting Up DKP400 Virtual ...
Last post by Johannes @ Robots in Architecture - May 23, 2025, 07:36:55 AMHello,
I'm not 100% sure that I understood that correctly, but you can set the value of the external axis by right-clicking a movement component and selecting the option to show inputs for the external axes. So I guess adding 180 degrees to E1 would put it on the other side.
I would recommend looking into some of the samples for optimizing the external axis position - the automated solver is not optimal in many cases - especially for a DKP.
Best,
Johannes
I'm not 100% sure that I understood that correctly, but you can set the value of the external axis by right-clicking a movement component and selecting the option to show inputs for the external axes. So I guess adding 180 degrees to E1 would put it on the other side.
I would recommend looking into some of the samples for optimizing the external axis position - the automated solver is not optimal in many cases - especially for a DKP.
Best,
Johannes
#27
Support / Re: Setting Up DKP400 Virtual ...
Last post by GATECH_DFL - May 22, 2025, 09:57:23 PMAnother question. I have a simulation where the DKP400 is spinning and the tool is moving up and down as it should for milling. However, the tool is located on the wrong side of the geometry (causing unreachable points). How can I specify in grasshopper to have the tool be on the other side of the geometry?
#28
General Discussion / Re: Winding Toolpath
Last post by Johannes @ Robots in Architecture - May 22, 2025, 10:01:27 AM...I now saw how they do it at 11:15 in the video - then you would need an external axis to rotate your part.
Best,
Johannes
Best,
Johannes
#29
General Discussion / Re: Winding Toolpath
Last post by Johannes @ Robots in Architecture - May 22, 2025, 09:51:53 AMGeometrically, doing something like this is definitely possible, however you need to take into consideration that a lot of work went into a program like the one you linked to. So I would strongly recommend not to look for "universal solutions" that do everything, but to pick a challenge relating to your project and start with that.
I have put together an example using an external tool, which should be useful for winding. The example does not show a proper winding toolpath, though.
Best,
Johannes
I have put together an example using an external tool, which should be useful for winding. The example does not show a proper winding toolpath, though.
Best,
Johannes
#30
General Discussion / Winding Toolpath
Last post by sumyyyy - May 22, 2025, 09:13:36 AMHi everyone How can a wrap like the one in the image below be made? Has anyone tried it before?How to do that with KUKA PRC?
https://www.youtube.com/watch?v=L7UDbcJFbDc&list=PLXpx0cHFLYjq-A7t4yPzxxuWRy9HcQI99&index=3
https://www.youtube.com/watch?v=L7UDbcJFbDc&list=PLXpx0cHFLYjq-A7t4yPzxxuWRy9HcQI99&index=3