Recent Posts

11

General Discussion / There was an error loading the KUKA|prc graphical user interface.

« Last post by Wang Cong on October 22, 2019, 05:35:55 PM »

Hello Johannes，

I am so confused. When I click KUKA|prc setting a window apperas me that most likely this is caused by an outdated.NET framework. But when I download the file and install, a window apperas that I have install it. This problem only in my laptop, others can work well. I have tried many time but they don't work , So I would like to ask you for help.

Best,
Wang Cong

12

General Discussion / Re: TCP coordinate

« Last post by Johannes @ Robots in Architecture on October 17, 2019, 12:43:10 PM »

Hello,

The TCP position in the GUI or the variable are always relative to the robot base and using the currently active tool.
If you change the base, you will also see the XYZABC values of the position change.

Best,
Johannes

13

General Discussion / Re: TCP coordinate

« Last post by robotmey on October 17, 2019, 12:10:29 PM »

thanks for reply,

sorry but i am still confuse. If in current tool & Base menu, l set my tool number to my defined TCP and Null frame for the base. can i see fixed values of TCP relative to the robot base in Robot position menu for insert in Post processor?

14

General Discussion / Re: TCP coordinate

« Last post by Johannes @ Robots in Architecture on October 17, 2019, 11:56:05 AM »

It's simply Display / Current Position / Cartesian.
Or you can query the $POS_ACT variable.
In both cases, make sure that the right tool and base are active.

Best,
Johannes

15

General Discussion / TCP coordinate

« Last post by robotmey on October 17, 2019, 11:53:42 AM »

hello dear users,


KUKA KRC2, v4.1.5, Milling application with Powermill

post processor needs TCP Coordinates relative to the robot base. I Know every tool is defined by XYZABC values defining the offset from

the 6th axis flange. manually I changed B=-90 so TCP coordinates direction is similar to the world coordinate. now i need right values

of TCP coordinate relative to the robot base. is there any way to see these values on the pendant?



thanks for any help

 

16

Support / Re: Multi state tools for xml files & sunrise

« Last post by Johannes @ Robots in Architecture on October 16, 2019, 07:32:36 AM »

Hello,

Multistate tools basically allow you to easily switch the geometry of a tool, e.g. so that a gripper also shows the workpiece it's holding.
Regarding the gripper: If it's controlled via IOs then you can just toggle the IOs via KUKA|prc. If the gripper is using its own library, you can just "hack" a bit into the *.java code that is provided by us.
So that e.g. when you toggle output 5, it actually actuates the gripper via the library.

Best,
Johannes

17

Support / Multi state tools for xml files & sunrise

« Last post by z5113452 on October 16, 2019, 06:08:57 AM »

Hi Everyone,

I am new to using PRC and I am using an iiwa 14 r820 via sunrise workbench. I have noticed there is a component for multi state tools and I am wondering how it works and if it possible to control the attached gripper (robotiq 2f85 gripper) through the commands exported from PRC or if I have to add code into the "run_xml.java" file in sunrise ?

Many thanks in advance. 

18

General Discussion / Re: Plasma torch anyone ?

« Last post by misripatel on October 15, 2019, 08:37:14 PM »

Hi,

I saw your post about the plasma cutter and I'm really curious about the process. Could you please walk me through the I/O and setting up the tool part of it? Which plasma cutter would you suggest?

Best,
M

19

Support / Re: import gcode digital output

« Last post by Johannes @ Robots in Architecture on October 14, 2019, 11:52:49 AM »

Nice, thanks for letting me know!

20

Support / Re: import gcode digital output

« Last post by evo85210 on October 14, 2019, 11:37:52 AM »

Yup, working.
Thanks.