Grasshopper to KUKA robot

Hi all,

I'm in my final year and my final year project is program a KUKA Kr16 robotic arm. I have a simple and basic program made in rhino and grasshopper. I believe this robot uses KRL code instead of G code, but I cannot figure out how to get the code out of grasshopper / Rhino and into the KUKA robot. If anyone could help me it would be greatly appreciated. Attached is the rhino file and grasshopper file.

Rhino & grasshopper is completely new to me and I apologise as it is something run of the mill simple.

Simple%20Path.3dm - Rhino File

Simple%20Path.gh - Grasshopper File

Replies to This Discussion

Permalink Reply by Johannes Braumann on March 16, 2017 at 6:30am

Hello Kevin,

That is fortunately easy, just go into the settings via the Core component and set an output directory (e.g. your Desktop). By default, whenever you make a change, the file will be automatically saved. You can then copy the resulting *.src file onto a USB stick and transfer it to the robot. Note that you may need to be in the Expert user group in order to see USB drives in the file browser of the robot.

Also refer to the posts at forum.robotsinarchitecture.org if you run into any issues!

Hope that helps,

Johannes

Permalink Reply by Kevin McCarthy on March 20, 2017 at 11:28am

Hi Johannes,

Thanks again for help it was greatly appreciated, I only got a chance today to try the program as it was a bank holiday here in Ireland.

Attached is the is two pictures of the teach pendant for the robot. The first is the program I created by moving the robot manually and saving the points to demonstrate the size of the work envelope. The second picture is the .src file that I have loaded via USB into the, the program doesn't seem to run as it there is a warning appearing "Selection Required". I apologies again as this is all new to me. I'm unsure is it the same format for this one I created manually. Also the program does not seem to be selected to run as the others as im not able to rested the program by using the drop down menu, i was wondering was it because there is no .dat file created with the .src file.

Kind Regards,

Kevin McCarthy

Permalink Reply by Johannes Braumann on March 20, 2017 at 11:39am

Hello Kevin,

Is it possible that you simply "opened" the program instead of "selecting" it (two different buttons) ? That would be the most obvious reason.

Also refer to that post for getting started with calibration: http://forum.robotsinarchitecture.org/index.php/topic,115.0.html

Currently, you are using base 4 and tool 6 - did you calibrate them both first, or are they already calibrated? If they are already calibrated, make sure that your base (in the Core component) and your tool (by double-clicking or right-clicking + Settings at the Custom Tool component) are similar to the ones on the robot.

I usually only enter the full numbers, unless we are very close to a limit of the robot. The robot itself is only told to use the e.g. tool values of slot 6, and will use the full-precision values stored there - the XYZABC values in PRC only affect the simulation.

Best,

Johannes

Permalink Reply by Johannes Braumann on March 20, 2017 at 11:40am

...and don't worry about the *.dat file, we put all the information into the *.src file to make the copying "safer".

Best, Johannes

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