Recent Posts

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21
General Discussion / Re: low resolution version of robots
« Last post by Johannes @ Robots in Architecture on November 06, 2018, 08:16:12 PM »
Hello,

Actually the next release of KUKA|prc already contains two different sets of meshes, one in high and one in reduced quality.
If you've got Dynamo, you could give the Dynamo release a try.
Not sure when we will release it publicly for GH - hopefully soon as I'm already using it without many issues with my students.

In the meantime the member version allows you to define Custom Robots. I don't mind providing you with the default meshes for the robots, so that you can manually reduce them via ReduceMesh in Rhino.

Best,
Johannes
22
General Discussion / low resolution version of robots
« Last post by EKing on November 06, 2018, 12:29:09 PM »
Hi Forum -
Is there a way to have a lower version resolution of the robots mesh wise to streamline simulations?
...more than just the internal kinematics line but less than the fully resolved robot?
Thanks
23
General Discussion / Re: fronius with kuka prc
« Last post by Johannes @ Robots in Architecture on November 01, 2018, 09:46:36 PM »
That's great, I'm happy that we got it to work so quickly!!
Best,
Johannes
24
General Discussion / Re: fronius with kuka prc
« Last post by ashishmohite on November 01, 2018, 01:37:01 PM »
Hello johannes,

I created a kuka_project.dat file with the text which you posted here and it worked like a charm.
Thanks a lot. Here is the first sample.

Regards,

Ashish
25
General Discussion / Re: fronius with kuka prc
« Last post by Johannes @ Robots in Architecture on October 31, 2018, 04:34:12 PM »
Hello Ashish.

I haven't worked with that tech package before and don't know much of the terminology that's used. Also, it's not entirely clear which variables are globally declared and which locally.
For now if you make a project with the standard kukaprc_project name, put a kukaprc_project.dat with the following content next to it:
Code: [Select]
&ACCESS RVP
&REL 1
&PARAM TEMPLATE = C:\KRC\Roboter\Template\vorgabe
&PARAM EDITMASK = *
DEFDAT kukaprc_project ( )

DECL ATBg_Weld_T AW_WDAT={JobModeId 732750510,ParamSetId -1540567493,Velocity 0.00833333377,Channel1 1.00000,Channel2 0.0,Channel3 0.0,Channel4 0.0,Channel5 0.0,Channel6 0.0,Channel7 0.0,Channel8 0.0}
DECL ATBg_Start_T AS_WDAT={JobModeId 732750510,ParamSetId -243025295,StartTime 0.0,PreFlowTime 0.100000,Channel1 1.00000,Channel2 0.0,Channel3 0.0,Channel4 0.0,Channel5 0.0,Channel6 0.0,Channel7 0.0,Channel8 0.0,PurgeTime 0.0}
DECL WTCg_WeaveDefinition_T WV_WDAT={Pattern #None,Length 0.0,Amplitude 0.0,Angle 0.0}
DECL ATBg_Crater_T AC_WDATOFF={JobModeId 732750510,ParamSetId 885173050,CraterTime 0.500000,PostflowTime 2.00000,Channel1 1.00000,Channel2 0.0,Channel3 0.0,Channel4 0.0,Channel5 0.0,Channel6 0.0,Channel7 0.0,Channel8 0.0}
ENDDAT

In KUKA|prc use the following lines with the Custom KRL component:
Code: [Select]
Arc_On(1, AS_WDAT, ATBg_StartErrSetField[1], AW_WDAT, WV_WDAT, ATBg_WeldErrSetField[1], #StdArcOn, " ")
Arc_Off(1, AC_WDATOFF)

Let's see what error messages pop up!

Best,
Johannes
26
General Discussion / Re: fronius with kuka prc
« Last post by ashishmohite on October 31, 2018, 01:18:59 PM »
Hi Johannes,

Thank you for a fast reply. I am attaching two files which have been successfully working with the robot setup. They were generated on the pendant without any external software.
When I open them in text file there is a lot of data which I do not understand when I open them in workvisual still there is a lot of data which I cannot make any sense of.
I need to figure out how I could add these commands to my workflow in kukaprc.

Regards,
Ashish
27
Support / Re: NC Import
« Last post by singline on October 30, 2018, 10:45:25 PM »
In that case, the latter every time.
28
General Discussion / Re: fronius with kuka prc
« Last post by Johannes @ Robots in Architecture on October 30, 2018, 05:12:12 PM »
Hello,

ARC ON and ARC OFF seem to be inline forms, i.e. you don't see the full code.
My suggestion would be to copy your file to a USB stick and look at it on the PC.
According to that thread (https://www.robot-forum.com/robotforum/kuka-robot-forum/'value-assignment-inadmissible'-krl-using-arctech-basic/) it looks a bit like that...
$BWDSTART=FALSE
LDAT_ACT=LCPDAT4
FDAT_ACT=FP4
BAS(#CP_PARAMS, ATBg_BAS_VELDefinition)
LIN XP4
ARC_OFF(1, AC_WDAT2)

I guess LIN XP4 is a litftoff movement, so the interesting part for you is the ARC_OFF(1, AC_WDAT2) part.

Most likely if you put that into a KUKA|prc Custom KRL component, it will be missing the AC and WDAT2 variables. So take a look at the .dat file where they should be defined. No idea what they contain, but either create your own .dat file for the KUKA|prc-generated *.src file, or if WDAT and AC are always the same, define them as global variables in the $config.dat (but with different names, as not to confuse the robot).

Best,
Johannes
29
General Discussion / fronius with kuka prc
« Last post by ashishmohite on October 30, 2018, 02:35:59 PM »
hi,
I have started working with a Kuka robot which has the Fronius arc welding setup. previous users of the robot were using PTP movement and adding the ARC on And ARC off command manually in the pendant. When I create an extrusion tool path (linear moe) with the robot and try to add this ARC ON and Arc off manually, this does not work. I am not able to add these commands manually.
The file created by other users before (ptp) had two files ABc.src and ABC.dat. What is the right way to create a Kuka code using kukaprc which has these ARC ON and Arc off settings? Any help is much appreciated.

Regards,
Ashish Mohite
30
Support / Re: NC Import
« Last post by Johannes @ Robots in Architecture on October 29, 2018, 06:45:04 PM »
I was more asking in general, when the next version becomes public - what would you go for?
For now it's definitely easier to revert. You can also just delete/move/rename (?) the GHA file and leave the others in the directory.

Best,
Johannes
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