Recent posts
#31
Support / Re: Setting Up DKP400 Virtual ...
Last post by GATECH_DFL - May 21, 2025, 09:48:15 PMYes, thank you!
#32
Support / Re: Setting Up DKP400 Virtual ...
Last post by Johannes @ Robots in Architecture - May 20, 2025, 10:20:08 PMHello,
I'll try to put it into an example.
You have got the offset from the robot to the turntable, let's say X=1000 and Z=500
Then you define an offset base, that is slightly higher, so Z=100.
If we now make a PTP movement to 0/0/0 and set a base that is tagged as an offset base, the robot will move to 1000/0/600 in absolute terms - however in the KRL file it will say 0/0/0.
If you don't set an offset base, the absolute position will be 0/0/100 instead. It will still say 0/0/0 in the KRL file.
The offset bases are in the normal list of bases, they just get an extra tag when you calibrate them as an offset base.
Does that make sense?
Best,
Johannes
I'll try to put it into an example.
You have got the offset from the robot to the turntable, let's say X=1000 and Z=500
Then you define an offset base, that is slightly higher, so Z=100.
If we now make a PTP movement to 0/0/0 and set a base that is tagged as an offset base, the robot will move to 1000/0/600 in absolute terms - however in the KRL file it will say 0/0/0.
If you don't set an offset base, the absolute position will be 0/0/100 instead. It will still say 0/0/0 in the KRL file.
The offset bases are in the normal list of bases, they just get an extra tag when you calibrate them as an offset base.
Does that make sense?
Best,
Johannes
#33
Support / Re: Setting Up DKP400 Virtual ...
Last post by GATECH_DFL - May 20, 2025, 07:37:43 PMThe KRL files produced by kuka prc give coordinates relative to the turntable as the base. However, the robot is reading these as coordinates relative to its own base. For example, in the simulation if the robot is moving to a position where x is -900, it is moving -900 relative to turntable. In reality, robot tries to move -900 relative to its own base. How can I fix this issue?
#35
Support / Re: Collsion check on RAM.
Last post by Johannes @ Robots in Architecture - May 19, 2025, 10:36:16 PMHello,
That is interesting, is it on the same KUKA|prc version?
Best,
Johannes
That is interesting, is it on the same KUKA|prc version?
Best,
Johannes
#36
Support / Re: Setting Up DKP400 Virtual ...
Last post by Johannes @ Robots in Architecture - May 19, 2025, 10:28:52 PMHello,
My guess would be that you did not calibrate the base as an offset base. An offset base is constrained to an external kinematic system, so in the case of a turntable it rotates along with it.
Please give that a try! When you calibrate an offset base on top of a turntable, you will get very low XYZ values as it is in relation to the turntable, rather than in relation to the robot.
Best,
Johannes
My guess would be that you did not calibrate the base as an offset base. An offset base is constrained to an external kinematic system, so in the case of a turntable it rotates along with it.
Please give that a try! When you calibrate an offset base on top of a turntable, you will get very low XYZ values as it is in relation to the turntable, rather than in relation to the robot.
Best,
Johannes
#37
Support / Setting Up DKP400 Virtual Cell...
Last post by GATECH_DFL - May 19, 2025, 09:03:25 PMI built a virtual cell to model the positions of my robot and DKP400 turntable. I moved the DKP400 relative to the robot using X,Y, and Z value in Positioner Root Frame menu when you click on the DKP400 component in grasshopper so the virtual cell matches my environment.
However, I am simulating a simple curve to have the robot trace to test for milling, located above the DKP, not using any of its axes, just the robot by itself. Everything looks correct in the simulation, but when I run it on my robot, the robot goes to the floor, as if the curve is located below it. If I move the curve in X,Y, and Z by the same coordinates of the turn table, the curve looks extremely off in the simulation (located way too far away, unreachable). But if I remove the turntable and just plug in the robot to the ROBOT in the CORE component, the robot's location moves in the simulation and can reach the curve just fine, and it runs correctly on the real robot.
How can I implement the DKP into grasshopper without it causing the robot to be moved so far from its original position and place the DKP where it should be?
However, I am simulating a simple curve to have the robot trace to test for milling, located above the DKP, not using any of its axes, just the robot by itself. Everything looks correct in the simulation, but when I run it on my robot, the robot goes to the floor, as if the curve is located below it. If I move the curve in X,Y, and Z by the same coordinates of the turn table, the curve looks extremely off in the simulation (located way too far away, unreachable). But if I remove the turntable and just plug in the robot to the ROBOT in the CORE component, the robot's location moves in the simulation and can reach the curve just fine, and it runs correctly on the real robot.
How can I implement the DKP into grasshopper without it causing the robot to be moved so far from its original position and place the DKP where it should be?
#38
Support / Collsion check on RAM.
Last post by OXIDO - May 19, 2025, 06:35:39 PMHello everyone,
My workstation has been running a collision check on the RAM using Rhino 8, which crashes Rhino after some time. On my other system with Rhino 6, it uses the CPU and is much faster. How can I fix this?
My workstation has been running a collision check on the RAM using Rhino 8, which crashes Rhino after some time. On my other system with Rhino 6, it uses the CPU and is much faster. How can I fix this?
#39
General Discussion / Re: Deviation in the XY coordi...
Last post by Johannes @ Robots in Architecture - May 19, 2025, 05:35:54 PMHello,
If the robot isn't following its toolpath accurately, then this can indicate a problem with its mastering. Have you got an EMD to check the mastering?
Best,
Johannes
If the robot isn't following its toolpath accurately, then this can indicate a problem with its mastering. Have you got an EMD to check the mastering?
Best,
Johannes
#40
General Discussion / Deviation in the XY coordinate...
Last post by Khalilullah_Taj - May 19, 2025, 04:13:00 PMHi Johannes,
I am trying to print cylindrical shell segments stacked on top of each other. I created a separate program for each segment. In practice, when I print, there is a slight deviation in the XY coordinates of the current segment from the previous one.
I checked my SRC. and G-code. files. It seems that the XY coordinates there are the same. What do you think could be causing the issue? How do you think I could fix that?
Thank you,
Taj
I am trying to print cylindrical shell segments stacked on top of each other. I created a separate program for each segment. In practice, when I print, there is a slight deviation in the XY coordinates of the current segment from the previous one.
I checked my SRC. and G-code. files. It seems that the XY coordinates there are the same. What do you think could be causing the issue? How do you think I could fix that?
Thank you,
Taj