Recent posts

#31
General Discussion / Re: rotational_axis
Last post by Moh.Yazdan - February 21, 2024, 02:40:51 PM
Thank you, Johannes, that was a clever idea. Yes, I will connect it that way. Do you know or do you have an example of how I can add a single-axis positioner with a counterbearing (KP1 HC500) in Kuka PRC? You mentioned that a single-axis positioner is not available in Kuka PRC. I want to define a linear axis as E1, a single-axis positioner as E2, and a turntable as E3.

Best,
Mohammad
#32
General Discussion / Re: rotational_axis
Last post by Johannes @ Robots in Architecture - February 21, 2024, 11:03:13 AM
Hello Mohammad,

If you have got a linear axis and a turntable, please connect them in the right order. So e.g. plug the robot component into the linear axis (E1) and the linear axis then into the turntable (E2), or the other way round.

Best,
Johannes
#33
General Discussion / Re: rotational_axis
Last post by Moh.Yazdan - February 21, 2024, 10:45:56 AM
Thank you for DKP, it was very helpful. I was able to switch the E1 and E2. we have also a robot with an axis positioner (KP1 HC500) as E1 and a linear axis (KL 4000) as E2. Is it possible to switch the external axes here similar to DKP? If not through GH components, is it through WorkVisual? If yes, could you advise me on some manuals or tutorials on how to make these changes?

Thank you,
Mohammad
#34
General Discussion / Re: rotational_axis
Last post by Johannes @ Robots in Architecture - February 20, 2024, 09:27:38 PM
Hello Mohammad,
In general, the axes take their numbering from the order in which they have been added.
So if you have got a linear axis (as E1) and then add a turntable, it will be the E2. Internally there are ways to change that, but not through GH components.
For the DKP, there is actually an option in the right-click menu to change the axis order!
Best,
Johannes
#35
General Discussion / Re: rotational_axis
Last post by Moh.Yazdan - February 20, 2024, 01:15:26 PM
Hello Johannes,

I have a question regarding the external axes. Is it possible to define the external axes differently in Kuka|prc? For example, for DKP-400 v2, defining E1 for rotational movement and E2 for tilting.

Thank you in advance for your assistance.

Best,
Mohammad
#36
Support / Re: Roboteam example
Last post by Johannes @ Robots in Architecture - February 18, 2024, 10:19:20 PM
Hello Alex,

Ask me something easier, with RiA on one side and the university on the other side, the time for the "new" PRC usually happens when my schedule clears unexpectedly.

Honestly the challenge is that KUKA|prc is now very well tested, stable, and relatively fully featured, so doing something that does "more" is hard, considering that users don't see whether the code behind it is janky or well structured ;) But the next PRC will definitely have some nice, new things that are not possible with the current KUKA|prc releases!

But thanks for the offer regarding testing. RoboTeam is definitely on my todo list to explore further, once we have got a suitable project that requires it, I might take you up on the offer!

Best,
Johannes
#37
Support / Re: Parametric speed value for...
Last post by Johannes @ Robots in Architecture - February 18, 2024, 10:11:46 PM
Thanks a lot for the feedback, glad that I could help!
Best,
Johannes
#38
Support / Re: Parametric speed value for...
Last post by louislamont1 - February 17, 2024, 02:04:59 AM
Yep just looked properly at the KRL file, seems I wasn't looking hard enough.
Thanks again Johannes!
#39
Support / Re: Roboteam example
Last post by AADPL - February 16, 2024, 04:51:18 PM
Ah okay that all makes sense re: floats and integers and transforming the positions. I'll give that a go.

Also very exciting that PRC is being fully rebuilt! In what sort of timeline will that happen?

If you ever want to collaborate more closely on testing Roboteam options and functionality in the future we'd be more than happy to lend a hand, also if you're visiting London and want access to our Roboteam cell then we'd also be more than happy to facilitate!

Best,

Alex
#40
Support / Re: Parametric speed value for...
Last post by Johannes @ Robots in Architecture - February 16, 2024, 10:14:28 AM
Hello,

What is shown in the screenshot is not the KRL output, but the string representation in Grasshopper.
So just like when you plug a point object into a panel, it says {0.1;0.5;16} or so. Within the data object, there is more data - like the speed - than is shown in the panel.
When you look into the generated KRL file and search for "$VEL.CP" you will find numerous speed changes.
But why would you expect a speed change at every line? In your GH script you are providing ca.11000 planes and ca. 200 speed values, one per data tree it seems. Some speed values are identical, in which case they are not output.

Best,
Johannes