Recent posts

#91
General Discussion / Re: rotational_axis
Last post by Johannes @ Robots in Architecture - November 30, 2023, 08:17:51 AM
Hello,

Sorry, where is the DKP 400 coming from now? Your screenshot showed a linear rail and a horizontal positioner.
You mention that the "simulation is not satisfactory", what do you mean by that? This can be anything from a 2mm difference to the robot being 1m away from where it should be.

I looked at your attached file and it seems fine to me. You would need to explain to me what exactly you want to achieve in order for me to be able to help you.

What I can tell you is that your tool is very high resolution which will reduce performance. I would reduce it down to like 10k vertices.

Especially when using a DKP (= 2 rotary axes) I would personally recommend defining your own positioner strategy (see e.g. attached). The automated solver settings define a vector (so entering 0/0/0 as in your file will have no effect). That being said I just looked at the solver and there might be bug in some cases. I will have to look into that whether it's related to us or Rhino.

The horizontal axis is not included by default, but we have several people using those through the custom turntable component.

It would be great if we could go through your questions in sequence and solve them one by one, rather than posting them all at the same time.

So first back to your turntable from the initial screenshot: Is it synchronizing properly? What are its XYZABC values?

Thanks,
Johannes
#92
General Discussion / Re: rotational_axis
Last post by Moh.Yazdan - November 29, 2023, 02:08:19 PM
First of all, thank you very much for your response. As you mentioned, I set the root
position Frame by right-clicking on DKP 400. However, what is still unclear for me is
how to use the two axes of this component simultaneously, specifically for rotation in
the y and z directions. I attempted to define a position for DKP 400 in the Base
section using E1 and E2, but when I run the simulation, the accuracy is not
satisfactory. Can you please show me how to adjust the value in this file? In the
attachment, you can find the Grasshopper and Rhino files. Additionally, could you
please guide me on the value that should be defined in the dynamic value by vector
for the Rotary axis?
The second question is regarding where I can find the KP1-HC500 R1200-2 (one-axis
positioner).

best,
Moh
#93
General Discussion / Re: rotational_axis
Last post by Johannes @ Robots in Architecture - November 27, 2023, 05:08:29 PM
Hello Moh,

The first step is that the external axis needs to be properly working. So you need to make sure that the axis itself is calibrated and then set an Offset Base (fine to use all-0 fror testing). That way, when you go into base movement mode and move your external axis in that mode, the turntable will turn and the robot will move along with it, i.e. it will keep its position relative to the turntable.

Is that working for you? What are the calibration values of your rotary axis?

Best,
Johannes
#94
General Discussion / rotational_axis
Last post by Moh.Yazdan - November 27, 2023, 02:36:07 PM
Hello everyone

I would like to inquire about how to add an axis of rotation, as detailed in the attachment to the Grasshopper.

Best regards,
Moh
#95
Support / Re: Follow a NURBCurve
Last post by Johannes @ Robots in Architecture - November 22, 2023, 03:03:22 PM
Hello,

With interpolation turned off you will get the rough polyline between frames, otherwise (for motions other than LIN, of course) you will get the actual, smooth path.

Best,
Johannes
#96
Support / Re: Follow a NURBCurve
Last post by OXIDO - November 22, 2023, 09:17:46 AM
Thanks, Johannes for the solution.
The toolpath I gave you is just an example because I cannot share the actual toolpath. The point was to know the alternative flow in comparison to to older version.

I was trying the robot spline but now that I see it closely it follows a curved path. I was still referring to the grey line, my mistake. I feel this was my
visual miscommunication.



Best Regards,
Ojas Mahajan
#97
Support / Re: Issue with velocity when u...
Last post by Johannes @ Robots in Architecture - November 22, 2023, 07:37:43 AM
Hello,

The default behavior of the speed setting is that the initial speed is used until it is overridden by a specific speed setting. So if you don't set the speed of the movement component the offset speed will continue to be used - see the screenshot below. KUKA|prc is a generic interface so it does not differentiate by default between cutting paths, traversal paths etc. as people also use it for other applications than milling.

Doing three speeds is definitely not a problem, but you would need to make your own code, e.g. as a cluster. If you have access to the member version you can extract the plane from e.g. a LIN movement, with the Community version you would need to set it up at the "plane-level" before you turn it into a movement component. Afterwards you simply offset the first/last plane, set the according speeds and weave it back together in the right order.

Let me know if you run into any issues here, then I can provide you with an example!
Best,
Johannes
#98
Support / Issue with velocity when using...
Last post by alvarogarciasab - November 21, 2023, 09:15:02 PM
Hi all,

I've been defining a program where a Kuka robot will mill a material in 2.5D.

Ideally, I would like to define three velocities: Travel movement (not milling), Milling velocity, and Offset velocity (when the robot moves in the Z axis going away from the material.

Two points here:

1. When using the Tool Axis Offset module, the Offset vel. defines the milling velocity and vice-versa. Is it a software issue?

2. I understand that if it works well, I can define Milling vel and Offset vel. Is there a way to define a third velocity (Travel vel.)?

I am attaching a pic where I visually describe the issue and question.

Thanks in advance,
#99
Support / Re: Follow a NURBCurve
Last post by Johannes @ Robots in Architecture - November 21, 2023, 05:12:46 PM
That is a rather crazy toolpath! You can optimize it by changing the position of the orientation point, see attached.
It's very important to consider though that the robot spline is NOT a NURBS curve and that the actual spline might differ. The advantage of robot splines is that you can create a freeform curve with few control points.
Also I would strongly recommend to enable the motion interpolation in the settings as it will make the simulation much more accurate!
Best,
Johannes
#100
Support / Follow a NURBCurve
Last post by OXIDO - November 21, 2023, 04:15:34 PM
Hello,
I need help Following a NURB curve along the red curve. If I increase the points it warns me of singularities and if I reduce the points it deviates from the curve in black.



In the tutorial section, I found this but I'm unable to work with this due to the old version.
https://forum.robotsinarchitecture.org/index.php/topic,24.0.html

I am also attaching the file if you have an alternative way. Hope you have a way.

Regards,
Ojas