Recent Posts

91

Support / Re: CIRC command unable to point constantly at center

« Last post by Johannes @ Robots in Architecture on January 17, 2019, 07:43:00 AM »

Hello,

Thanks for sharing the screenshots! We'll auto-activate the "Output Analysis Values" option in the next release.
The default behavior is that KUKA|prc generates the *.src file in the background, with the project name and directory as provided in the first page of the settings. The output within GH is mostly meant for special cases, where you e.g. need to do extra edits to the code.

Best,
Johannes

92

General Discussion / Re: Disable T2 form use KRC2 150

« Last post by Johannes @ Robots in Architecture on January 17, 2019, 07:39:43 AM »

Hello,

There's a German discussion here (https://www.roboterforum.de/roboter-forum/kuka-roboter/3/t2-abschalten/5469/) that recommends setting the program speed to 10% whenever the robot is in T2:

Code: [Select]

IF ($MODE_OP==#T2) THEN
  $OV_PRO=10
ENDIF
So it's not disabled, but much slower.

Best,
Johannes

93

Support / Re: CIRC command unable to point constantly at center

« Last post by bigdeer on January 17, 2019, 03:42:11 AM »

Thank you Johannes! I did things according to your instructions and the KRL is ready.
Now I can do some research on these commands.
Here is the procedure: I hope these pictures can be some kind of tutorial to new users.

94

General Discussion / Disable T2 form use KRC2 150

« Last post by momo3434 on January 16, 2019, 11:40:57 PM »

Hi All ,

Could somebody give us hand or a way how to disable T2 operation mode from use .was reading about kunden_version but I couldn't found it ?

Thank you in advance

Regards,

95

Support / Re: CIRC command unable to point constantly at center

« Last post by Johannes @ Robots in Architecture on January 16, 2019, 10:06:33 AM »

Hello,

Thanks for the feedback, you need to activate the "Output Analysis" option in the Advanced options first.
That is not clear, we will fix that in the next release!

And Circs are currently set to #VAR, there isn't an option at the moment to change it.
You could modify the SRC file, but then the simulation wouldn't be accurate.

Just a remark regarding outputting KRL through the Analysis component: Grasshopper can get really, really laggy when you have a text panel with thousands of lines of text, like a KRL program. So it's not KUKA|prc's fault when it gets slow.

Best,
Johannes

96

Support / Re: CIRC command unable to point constantly at center

« Last post by bigdeer on January 16, 2019, 09:53:25 AM »

Hello,

The trial version is now nearly 3 years old and quite outdated.
If you want to give it a try with the most recent version of KUKA|prc send me an eMail (johannes at robotsinarchitecture.org).
Circular movements also have several different orientation strategies like #VAR, #PATH, etc.
The jitter in the SPL may either be rounding problems or spline interpolation through an identical point. But as I wrote, it's an old version, I'll need to check if that is a bug that still exists.

Best,
Johannes

Hello Johannes!

I have received the latest version and the license. Thank you very much!
But I still can not figure out how to use VAR or PATH command to set orientation in circular movement.
Would you please give me some advice or hint or examples?
I think I should use "combine command" to combine a CIRC and something like VAR or PATH, but I am not quite familiar with KUKA command.
So I decide to check the KRL output for a existing command and do some backward research, hope to find some clue on the command system.

Then I find out that the analysis output did not output anything, neither did the analysis component.

I have checked at this red arrow but still got nothing.

97

General Discussion / Re: HOTWIRE CUTTER KUKA

« Last post by Johannes @ Robots in Architecture on January 16, 2019, 08:12:12 AM »

Hello,

In order to have simulation and reality match you need to make sure that the tool's number and XYZABC values are identical and that the tool is mounted the same way on the virtual as well as on the actual robot. That is usually easiest to check at the start position of a job, as the robot will stop there anyway with the BCO reached message.

Also, make sure that the base values match as well!

Best,
Johannes

98

General Discussion / HOTWIRE CUTTER KUKA

« Last post by ahmedshingaly on January 16, 2019, 07:44:55 AM »

i am using hot wire cutter on KUKA 30/60. everything runs smoothly in grasshopper simulation, however i don't know how to set up my tool in the robot control pad
in the robot control panel, start-up calibrate -tool- numeric tool - tool number 6) then I only input the Z value same as the one I have in the grasshopper definition, however robot does not follow the path requested.
any help   

99

Support / Re: CIRC command unable to point constantly at center

« Last post by bigdeer on January 16, 2019, 02:49:22 AM »

Hello Johannes, nice to meet you!
Thank you very much for your reply! It really helps.
I would like to have a try at the latest version. and I had send email to you. Please check!

100

Support / Re: CIRC command unable to point constantly at center

« Last post by Johannes @ Robots in Architecture on January 15, 2019, 04:22:45 PM »

Hello,

The trial version is now nearly 3 years old and quite outdated.
If you want to give it a try with the most recent version of KUKA|prc send me an eMail (johannes at robotsinarchitecture.org).
Circular movements also have several different orientation strategies like #VAR, #PATH, etc.
The jitter in the SPL may either be rounding problems or spline interpolation through an identical point. But as I wrote, it's an old version, I'll need to check if that is a bug that still exists.

Best,
Johannes