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Job Openings / Digital Fabrication Specialist · Hamburg/Norderstedt
« Last post by singline on August 02, 2022, 06:28:12 PM »
Develop parametric 3D models and manufacturing strategies for 3D printing concrete elements in Grasshopper-based prototyping.
Integrate your models into our fully digital process and test them on our Concrete Aeditor.
Provide feedback and deliver innovation for the advancement of Robotic Shotcrete Printing (RSP).
Help users of our technology develop new component designs, opening new use cases for 3D printing.
Be part of mutual sparring in a multi-disciplinary team, as well as knowledge sharing and coaching.

You have studied architecture or construction engineering and specialized in the direction of digital fabrication
You are not afraid to work with the most innovative producers in the precast concrete industry and develop manufacturing solutions with them.
You're totally curious about how design and fabrication in the construction industry will evolve in the future through digitized technologies
Your Grasshopper and Rhino skills are outstanding, and you have a desire to develop your programming skills on an unprecedented technology.
You speak and write English fluently and are proficient in C# or another modern programming language (e.g., Rust or Python).
Experience in programming robots would be ideal!
Support / Re: KR10 X11 Diagram
« Last post by Johannes @ Robots in Architecture on August 02, 2022, 07:46:25 AM »
Looks right, the X11 is a DSUB with I believe 50pins on the KRC4 compact!
You could also get a terminal block like that:
I don't know if type of connection conforms to all standards, but it is convenient!

Support / Re: Issues when optimizing tool path and plane orientation
« Last post by singline on July 29, 2022, 08:59:47 AM »
sure, you could also test changing the TURN variable to turn axis 6 in the alternative, less efficient direction to avoid maxing out the axis.
Support / Re: Issues when optimizing tool path and plane orientation
« Last post by Matty Fuller on July 27, 2022, 07:21:36 AM »
If the robot is capable of completing each individual cut without winding up A6, but not the entire program, then this should be easily solved by unwinding between cuts. This would be done by setting a neutral position above the work table and commanding specific axis values (ie: A6 = 0) rather than allowing the robot to solve for a cartesian position.

There is a specific component for digital outputs in KUKA|prc, alternatively you can use the Custom KRL component to enter any command to execute.
Where you place the component in your toolpath is mostly a Grasshopper thing - there are components for inserting objects into a list, splitting lists etc. Or you can use Merge List to combine the movement with the IO commands.
Is there any particular pattern you would like to achieve?
I've attached a generic example where the extruder is only on during the toolpath, but not during the approach and retract motion.

Support / How to add digital output for extruder on 3D Printing path?
« Last post by Jianyou on July 25, 2022, 03:58:09 PM »
    I am new to PRC and use a Kuka KR6 R900 for 3D printing.
Ihave a customized extruder, and how can I give a true/false signal into the comand codes to activate the extruder at a specific point on the printing path?
Support / Re: Generate E5 and E6 External Axes Values
« Last post by Johannes @ Robots in Architecture on July 18, 2022, 05:46:21 PM »
Thank you for the update, to be honest I did not know that setting all external axes was required, so that's valuable information!
What are six axes driving, unless that is confidential?

Support / Re: Generate E5 and E6 External Axes Values
« Last post by MkMrA2 on July 18, 2022, 05:40:43 PM »
Hi Johannes,

Thanks for the quick response! It does seem to need those E5 and E6. And I did have to add the A1-A6 as hardcoded values. But it works so this is acceptable for now.

Thank you! 
Support / Re: Generate E5 and E6 External Axes Values
« Last post by Johannes @ Robots in Architecture on July 18, 2022, 05:19:29 PM »
Hello Mark,

Do you need to set all of your 6 external axes, or is it enough to set 4 external axes from the Grasshopper code?
If it's just about getting the code to run, you could go into the KUKA|prc settings, Advanced, Code and tick the box to use a custom code pattern.
Above [STARTAXPOS] add the following line:
Code: [Select]
PTP  {E1 0,E2 0,E3 0,E4 0,E5 0,E6 0}If that does not help, also add the A1-A6 values for the start position - just note that it's then hardcoded and no longer uses the values from the UI - these values are used within [STARTAXPOS]

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