Re: Kuka Sim Pro 2.2 19
Avery Blaschko
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KUKAprc enables you to program industrial robots directly out of the parametric modelling environment, including a full kinematic simulation of the robot. The generated files can be executed at the KUKA robot, without requiring any additional software.
The free evaluation version allows the full simulation and code generation without. Additional features such as support for SunriseOS, external axes, G-Code import etc. are only available to members of the Association for Robots in Architecture. See www.robotsinarchitecture.org/kukaprc for an overview of the available features.
KUKAprc is also increasingly being used in industry at high-end wood fabrication companies, market leaders in the aeronautical industry, and even in nuclear reactors. For these applications, a commercial license is required.
It provides the robotic building blocks to directly integrate a KUKA robot into a parametric environment. Instead of writing code, simple function-blocks are connected with each other and the results immediately visualized.
KUKAprc simulates even complex robot setups with up to four external axes. It can also solve the external axis position by itself, just enter the preferred distance between robot and target (for rail systems) or a 3D-vector (for rotary axes) and KUKAprc will set the values automatically.
I created the program by drawing the curves I need in Rhino and then drawing the jogs between the curves. My Grasshopper program uses the curves to add orientation curves. These curves are then broken down into 150 segments with a "Divide Equal" command", then merged and fed to my Kukaprc core. 24 commands in total.
When trying to program I found that if I did not have each curve broken into an equal number of segments (i.e. 150) the commands would not merge. I found that each LIN command on the kuka is completed in the same time interval. Unfortunately this means that some of my shorter jog curves can take longer to run than my cutting curves. And my velocities are not constant throughout the program because the curves are different lengths. I need the cutter when in the material to have a consistent cutter speed to optimize my machine time (as well to speed up the jogs).
There must be some way of controlling the feedrate other than just having more or less curve division points otherwise you would have to break each LIN command of 150 points down into say 3 points so your rapid moves might be a small number of large, spaced out 3 point moves and your slower cutting moves might be a large number of small, close together 3 point moves. Perhaps this is how it is doen with KUKA, but as I said for most CNC machines you specify a feedrate for each type of move.
On a KUKA robot, no matter if you are using KUKAprc or another tool, you can set the velocity of the robot in % for PTP movements (movement from A to B with the least amount of axis rotation) and m/sec for LIN movements, as you are using.
However, there is no guarantee that the robot will actually reach that speed as its maximum speed is set by the slowest axis. Furthermore, what seems to be the problem in your case, is that a high point density will always slow down the robot.
There are some things you can try out: If you want constant speed, manually set the speed to a rather low value (the robot will never go faster than the programmed speed). To get more speed out of the robot, use a less dense toolpath, be sure that an interpolation like C_DIS is enabled. In the KUKAprc settings set the Advance Run to e.g. 3 positions. You can also do that manually with the existing file by setting the variable $ADVANCE to 3.
Do you have access to the member version of KUKAprc? It makes a few of these things easier than before, with e.g. a component to reduce the complexity of toolpaths. Send me an eMail (johannes[at]robotsinarchitecture.org) and I can send you a temporary license for it.
As a follow up on here, I actually want to increase the number of LIN command points as I need very smooth curves. In tight corners I watch the tool working very choppy due to LIN. So my fix was to increase (which unfortunately changed the tool path as well since the curves were more closely followed) - and I had to scrap a few more parts.
I've replied to your eMail. And yes, if you are using T1 at 3%, definitely set a slower speed in m/sec - this will greatly improve the toolpath. Another way would be to use spline toolpaths, which you can use with all KRC4 and some KRC2 robots. Spline-movements have got their own challenges, most importantly you have to remember that the robot will basically connect a series of points with a spline (similar to Curve-through-Points), so you cannot just take any NURBS curve and have the robot follow it.
The first time I tasted Miyan Kuka, it jumped straight up to my top 5 favourite Nigerian soups. Never mind the look of this soup, it tastes so good. If you love Ogbono Soup, you will love Miya Kuka even more.
Miyan Kuka [Video]
I honestly do not know how to describe the taste of this soup. If you can get hold of kuka powder, please try this soup.
The quantity of Miyan Kuka soup that the following quantities of ingredients will give you depends on the consistency you like for your soups. As you cook the soup, add water to bring it to the consistency you like. Some people like is quite watery, I like it moderately thick.
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