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91
Support / Re: Getting rid of those ridges
« Last post by Xylotica on May 09, 2022, 06:07:20 PM »
On those detailed millings like engraving and such, I have been getting very poor results because of that "motion blending" thing... What would be a set of better settings for these motion blending parameters ?
I get the extra point idea, but as I told you, I already did it by overshooting the final position : it doesn't suffice.
I could overshoot more, but this is starting to look really fuzzy and cumbersome at the same time.

EDIT : I just tried the extra vertically displaced point : still got those aweful ridges.
92
Support / Turntable rotation direction
« Last post by Xylotica on May 09, 2022, 06:00:36 PM »
I realize that my table is turning in the wrong direction.
The gear ratio was set to a negative value (like all other axes on the robot, actually), but the table turns in the opposite direction as the simulation.
I just wanted to point that out because it could be a cause for failed millings for other people.
In short : for use with KUKA|prc, the gear ratio on the external axis must be set to a positive value.
93
General Discussion / Re: controling ABB robots
« Last post by Johannes @ Robots in Architecture on May 09, 2022, 05:27:31 PM »
Hello Nicolay,
The contact details of KUKA France are here, personally I would suggest giving them a phone call: https://www.kuka.com/fr-fr/services/coordonn%C3%A9es-du-service-client#europe
With Brexit, getting a robot from the UK is definitely trickier than before. Xylotica here on the forum is also from France, maybe you could ask him for some suggestions,
Unfortunately I cannot really help with clay extrusions and pumps...
Best,
Johannes
94
Support / Re: Getting rid of those ridges
« Last post by Johannes @ Robots in Architecture on May 09, 2022, 05:23:11 PM »
Hello,

It's probably related to motion blending. You could try to constrain the path more, maybe add an extra movement like 0.25mm above the last point of the toolpath. So the tool lifts off to 0.25mm and then to the final height. The Reduce Toolpath component will get rid of that extra command, so ideally you add it afterwards. I have an alternative idea in case that's too tricky.

Best,
Johannes

95
Support / Getting rid of those ridges
« Last post by Xylotica on May 09, 2022, 05:18:13 PM »
I'm looking for better acceleration settings for milling as I keep getting areas where the tool plunged and exited in diagonal instead of straight.
This has nothing to do with trajectories defined within KUKA|prc. I I used "Reduce toolpath for instance, it could "round-off my trajectories, but here, it's really the robot that's not really going through all the waypoints.
I tried adding an extra point to "overshoot" the entry point and exit a bit further, and I still get this effect ; I suppose that the dynamic settings of the robot are still too "loose"...
If anyone facing the same problems has found just the right settings for this, I'd be glad to hear from him.
96
General Discussion / Re: controling ABB robots
« Last post by Nikolay on May 09, 2022, 02:47:28 PM »
Thanks gain Johannes!  From my initial research, the figures quoted by you are right on.  If, I am to contact KUKA directly, can you recommend a relevant contract to talk to? I live close to Nice in France and am not familiar with any local networks/representatives.

I saw a recommendation in one of the other posts about a dealer in the UK, that might be an option unless it has got complicated to import form the UK.

I will also, need to borrow the brains of the community with regards to extruders for clay and concrete/mortar and associated pumps. My initial thoughts are to use clay to do some small scale prints before I jump on to larges scale elements in concrete. Having no experience at all with hat technology, I am open to see what people think or suggest a better workflow to get up to speed.

Best Regards,

Nikolay
97
General Discussion / Re: controling ABB robots
« Last post by Johannes @ Robots in Architecture on May 05, 2022, 10:53:38 AM »
Hello Nikolay,

Personally with a large, used robot I would consider around 7000-10000EUR (max) for a KRC2 ed05 or 12000-20000EUR for KRC4 a good deal. Of course it very much depends on age and operating hours. As a baseline you could also ask KUKA directly as they have got a list of used robots.
Obviously a refurbished robot from KUKA is more expensive than from some person who maybe only paid the current metal-prices for the weight, but it gives you a good upper baseline. If the prices are similar, I would definitely buy directly from KUKA.

Best,
Johannes
98
General Discussion / Re: controling ABB robots
« Last post by Nikolay on May 04, 2022, 09:48:57 PM »
Thanks Johannes for your very useful support. I think i will take my time to evaluate well the best solution but from our exchange it is safe to assume it better to get a robot with a KRC2 ED05 controller or newer.

All the best,

Nikolay
99
General Discussion / Re: controling ABB robots
« Last post by Johannes @ Robots in Architecture on May 04, 2022, 07:32:32 AM »
Hello Nikolay,

The manual copying or starting of files is not a fun job, will take a minute or two every time I guess. There are software packages on the KUKA side that can automate that process (DirectoryLoader), but they are expensive.
Colleagues of mine like to use PointLoader, I think it costs like 2500EUR and streams large KRL files: https://www.orangeapps.de/?lng=en&page=apps%2Fpointloader
Regarding the splitting, that very much depends on the process, if it's continuous or not. So interrupting an extrusion process somewhere in the middle is not a good idea, you would need to identify a good spot where it e.g. transitions from one layer to another.

Best,
Johannes
100
General Discussion / Re: controling ABB robots
« Last post by Nikolay on May 03, 2022, 11:50:51 PM »
Hi Johannes,

Thank you for the warm welcome and quick reply to my conundrum :)

Very useful to hear your thoughts and I see some hope in considering even older models.  It is good to know that I can split a larger file but practically how would that work. Is that something to consider on a geometry creation level lets say in Rhino/Grasshopper or once a desired design/geometry is created and the code prepared for it  (sorry i am very new to all this) i can split the "machine code" in smaller parts. I want to understand at which level should I consider that bottle neck in order to make a judgement. I would not like to  be limited on design level.

Thank you again!

Nikolay
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