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Support / Re: Issue about MXA.
« Last post by singline on March 20, 2019, 12:42:59 PM »
When attempting to connect via mxA the robot doesn't initialise, could it be a library error?

Code: [Select]
Robot Online: True
Robot Initialized: False
mxA Program Active: False
mxA Buffer: 0 | previous 0 at 12:41
mxA Heartbeat: 254
mxA Average Response: 4 (Submit) / 3 (ProConOS)
Error Robot Interpreter: 0 | (0)
Error Submit Interpreter: 0 | (414 at 12:38)
Error PLC: 0 | (503 at 12:26)
Error KUKA: 83 | (83 at 12:41)
Error PCOS: 783 | (783 at 12:41)

ERROR: No statements can be executed, as the connection has not been initialized.
ERROR: Error messages of the robot controller are active. The $STOPMESS signal of the Automatic External interface is active.
ERROR: The robot program is not active. The $PRO_ACT signal of the Automatic External interface is not active..
mxA Submit Interpreter Error 0 -

Axis Position: A1 0, A2 0, A3 0, A4 0, A5 0, A6 0, E1 0, E2 0, E3 0, E4 0

Am I missing something? The OV updates with a slider..
Support / Re: iiwa 7th axis algorithm?
« Last post by Johannes @ Robots in Architecture on March 18, 2019, 11:31:05 PM »

What parameters are you optimizing for? I had some success having the additional axis to face away from the target, similar to,822.0.html
But of course that cannot optimize for collisions etc.
Maybe you can constrain it so that it only optimizes the positions that have problems?

All of that is very application-specific, which is why we don't have an automatic solver for it at the moment. But any ideas are welcome!

Support / iiwa 7th axis algorithm?
« Last post by evo85210 on March 18, 2019, 09:44:20 AM »
Just wondering if anyone is using iiwa with PRC?
I've been setting the 7th axis (E1), by using galapagos by minimizing the run time and it works fine.
but as the project gets more complicated, the longer it takes to calculate the optimal angle.
Currently my project have 5129 targets, having to provide and calculate a E1 for every target is proving to be too time consuming.
So i'm wondering if anyone have another solution?

Actually you program a turntable process in one coordinate system and then add the rotation with the E1, so that your coordinate system rotates along with the turntable. You can still use base coordinate systems, just make sure that you calibrate them as Offset Coordinate Systems on the KUKA. On KUKA|prc it automatically assumes that offset bases are used when working with a coupled turntable.
Or did I misunderstand your question?

General Discussion / Re: Integrating 7 axis on KR150 KRC2 ED05
« Last post by designfugitives on March 14, 2019, 04:38:40 PM »

In the attached image and GH file, you see there are 3 robot positions with a generic table set up.  Trying to set up to be able to rough out a block of foam into cylindrical stock. 

Lower left is how we have it set up in the shop.  Upper right is a wire cutter set up with A value set to 135 for E1.  Middle is a milling set up with A value at 60.  The A values were change to avoid singularity and collisions.   

If I was to implement this, I assume I will need to program two work bases.  With an endless E1, is there a way to program both operations without have to change the A values to ellimate the need to program the bases?

General Discussion / Re: Gcode to Grasshopper Kuka
« Last post by Johannes @ Robots in Architecture on March 14, 2019, 08:45:17 AM »

It really is just a component where you select your G-Code and it outputs KUKA|prc commands.
But you need a full license to use it. Send me an eMail and I can provide you with a temporary license!

General Discussion / Re: Gcode to Grasshopper Kuka
« Last post by Thargonite on March 13, 2019, 09:41:00 PM »
oh ok.. I understand...
Is there any chance of any  tutorial?
Of How to realize it or the logical process to do it?
To be honest, i'm a little lost...
thank you for your patience
General Discussion / Re: Gcode to Grasshopper Kuka
« Last post by Johannes @ Robots in Architecture on March 13, 2019, 08:48:26 AM »

G-Code is a super wide term but KUKA|prc in the member version contains functionality to e.g. load G-Code from 3D printing software or from the CAM module of Fusion 360.
A fully automatic conversion is usually tricky because most G-code is for 3 or 5 axis machines and doesn't contain all the geometric data need for a robot. So we usually add an extra orientation point that defines how the frame of the robot is rotated around the normal of 5-axis G-code, or the Z-axis in the case of 3-axis G-code.

General Discussion / Gcode to Grasshopper Kuka
« Last post by Thargonite on March 12, 2019, 06:35:15 PM »
Hi all,

I am still a beginner in Grasshopper, but I was wondering if it is possible to implement a Gcode file in Grasshopper to directly transform it into a KUKA Robot Language code.

Thank you
Support / Re: Multiple KUKAprc core components on same GH canvas
« Last post by AleInno on March 07, 2019, 03:37:55 PM »
very clear, thanks a lot!
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