Recent Posts

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21
General Discussion / remote desktop over KLI?
« Last post by evo85210 on December 31, 2019, 08:43:35 AM »
is it possible to do a remote desktop connection into a KRC4 KSS8.3.33 controller?
I can access shared folders over KLI, but when i try a remote desktop connection, it doesn't connect.
22
Support / Re: axis errors for continous circular movement
« Last post by Johannes @ Robots in Architecture on December 27, 2019, 03:28:56 PM »
Hello Jason,

Please excuse the late reply, I was sick for a few days and then Christmas happened.
We're using X+ as the tool-axis, which is then mapped to Z in the CAD environment. So if you've got a tool that is normal to the flange (drawn along the Z-axis), you will need to rotate the tool axis with e.g. B=-90 for it to align.
In any case, the values need to be identical within the simulation and at the robot. When working with the iiwa, take care that some values in the UI are in radians.

Best,
Johannes
23
Hello,

Go into KUKA|prc, then to the Utilities tab and get the Analysis component.
It will then expose the values to you!

Best,
Johannes
24
General Discussion / Re: how to extract collision information
« Last post by ahmedshingaly on December 27, 2019, 02:19:22 AM »
Dear Johannes

thanks alote for the quick reply
I was wondering if I could get to the server side on the kukaprc core in order to understand how it prints the warning or error messages

any suggestions
best regards
Ahmed Ali
25
Support / Re: axis errors for continous circular movement
« Last post by jason_r_Crow on December 20, 2019, 05:56:40 AM »
Hi Johannes,

We are still working through trying to get the physical and virtual robots in sync. When adding in the geometry for the tool, do the notes in this post apply to the IIWA - https://forum.robotsinarchitecture.org/index.php/topic,115.0.html? I ask as we had drawn the tool vertically along the z-axis with the base of the tool at 0,0,0 and the tool tip at 0, 0, 175mm. To have that show up properly in the simulation, our tool setting for A, B, and C in the custom tool component were 90,-90,90. Orienting the tool along the x-axis with the tip facing toward 0,0,0 shows up incorrectly?

Jason
26
Support / Re: axis errors for continous circular movement
« Last post by Johannes @ Robots in Architecture on December 17, 2019, 08:02:24 AM »
Hello Jason,

The error ("Arbeitsraumfehler" = Workspace error) means that the robot cannot reach a given position.
The most likely cause as you mentioned are the tool and base settings. To see if the KUKA|prc code is running in general, try a simple file with just a few axis movements.
I've attached a screenshot where you can see how tool and base are set in Sunrise / how they are referenced in the code.

Best,
Johannes
27
Support / Re: [bug] turntable visualization error
« Last post by Johannes @ Robots in Architecture on December 17, 2019, 07:56:37 AM »
Hello!

Thanks a lot for sharing, that's a very interesting problem, sorry that it is occurring to you!
I'll look into it tomorrow and hopefully post a fix soon!

All the best,
Johannes
28
Support / [bug] turntable visualization error
« Last post by evo85210 on December 16, 2019, 10:22:05 AM »
I've noticed that sometimes the visualization for the turntable becomes incorrect.
at first it'll be completely fine, but after a few saves and edits, "sometimes" this bug appears.
I've found no method to recreate this problem, it just happens randomly.

Seen in the attached screenshots, the first one, the visualized height for the turntable is incorrect, but code generation is correct, as it's still tilting and rotating from the correct axis, resulting in the turntable become disjointed.
the second screenshot is what's correct.

I've concluded that something is wrong with the core, if I create a new core component and reconnect everything, it'll fix itself.
and if I copy the broken core component into another file, it'll still be wrong

attached gh is with the broken core.

I am on the newest release.
29
Support / Re: axis errors for continous circular movement
« Last post by jason_r_Crow on December 16, 2019, 09:15:27 AM »
Hi Johannes,

I think we have something set up wrong. Aligning our simulation in Grasshopper with the robots is mapping the axes differently.
What appears to be correct for us is:
PRC A1 maps to Robot A1
PRC A2 maps to Robot A2
PRC A3 maps to Robot A4
PRC A4 maps to Robot A3
PRC A5 maps to Robot A6
PRC A6 maps to Robot A7 (Not the redundant axis, but the rotation of the media flange)

We might be setting up the base improperly? We are also getting errors when we run the PRC generated code on the robot. I've attached a screenshot of the pendant. I am also attaching our Rhino Model, test  Grasshopper script, and PRC XML file output.

Jason



30
Support / Re: axis errors for continous circular movement
« Last post by Johannes @ Robots in Architecture on December 16, 2019, 08:01:02 AM »
Hello Jason,

In KUKA|prc we use the "old" notation that KUKA used for the KUKA LBR robots before the iiwa, where the extra, redundant 7th axis is called E1.
So what the iiwa calls A1 - A7 is in KUKA|prc A1, A2, E1, A3-A6.
Hopefully then the movement will match!

Best,
Johannes
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