Posts by Ilim Aisayev

Quote from SkyeFire

You might want to consider adding some I/O to the KRCs.

Can you tell me more about it, please? I'm not really aware about I/Os and I wonder where can I learn about it?

Quote from SkyeFire

That should work. It's a bit vulnerable, as you won't be able to remotely reset faults or re-start a halted program if anything happens after you hit the Start button and run away (I assume you're using AUT mode rather than EXT, from this description).

I thought about it and I have an idea, I'll install UltraVNC and that'll give me the ability.

Edit

I just realized that it's not gonna work cause I won't have an ability to press the start button after reset faults anyway, cause on my controller it's physical

Quote from SkyeFire

Well, details matter. KRC model? KSS version? What options does your KRC have? What I/O does the KRC have? What mode do you want to run the KRC in?

A regular KR C4 (big one), KSS 8.6.10, Windows 10 under the HMI. It doesn't have any extensions. I use ready2_animate and for some show I will not be able to have an access to the robot controller, so I need a way to start the program remotely any way possible. The code looks like this

INI

ready2_animate LoadPathTable: FILENAME.EMILY
ready2_animate MoveToTableStart: FILENAME.EMILY Vel: 100%
ready2_animate RunPathTable: FILENAME.EMILY Tool: 1
ready2_animate UnloadPathTable: FILENAME.EMILY
SPTP HOME Vel=100 % DEFAULT

I just thought about modifying it with WAIT FOR $OUT[1] for example. In my mind it looks like I start program before the show and then it waits till I change value of $OUT[1] from my PC via KVP or another soft that allows to change values but I'm not sure if this thing is gonna work. My goal is getting more difficult cause I need to make this for 2 KR210 R3100-2 and it's important to start them at the same time. Thanks for answer!

Quote from panic mode

using C3Bridge instead of KukaVarProxy you can do that without any preparation work on the KRC side.

So C3Bridge is better for my goal? Is "wait for" is OK, or which way I should try to implement this? Thanks for answer! I'll try to understand how to work with that.

Hello everybody! I wonder if there is a way to start robot's program remotely from my PC with no RSI or eKRL using kukavarproxy?

Quote from SkyeFire

That said, WAIT commands can wait for $OUTs or variable states:

WAIT FOR $OUT[1]

WAIT FOR MyIntegerVariable==17

Quote from panic mode

But you can use other variables...

Wow, that's what I looked for, thanks guys a lot!

Quote from panic mode

writing outputs or any other variable (that is not read only) is not a problem.

Sorry to bother you, but does this allow me to send an output from my pc? If I put input in KRL waiting for output before start. I just found this in documentation of KUKA Variables:

$WAIT_FOR
Description WAIT FOR statement at which the robot interpreter is currently waiting
Reading of the variable is only possible in a robot program. It cannot be read
in a submit program. The variable is write-protected.

It's hard to understand for me if it can work. Now I have in my mind something like this:

//it's pseudocode
wait for $in[1]
move robot to start position
wait for &in[2]
start .emily file via ready2_animate

Added: I don't want to clogging this thread so I'll just ask here.

Quote from panic mode

inputs are read only.

As I understand inputs receive outputs so I don't need to control inputs or I am wrong?

Hello guys! I'm new here and I wonder if I can simulate digital inputs/outputs with this soft? My goal is starting several robots program by one click from pc and maybe there is simpler way to implement this

Quote from SkyeFire

R2A is a very rare beast, so there may not be anyone here who has any background in it. I know I don't

Thanks a lot! The funny thing is that our distributor just said "Oops, I sent wrong version of R2Apro." So yeah, that's weird. But I'm grateful to you for answer about connecting, this is useful info for me.

I'm still stuck with this problem and I have one new question. What IP I have to write in the ready2_animate pro program? There is a standard IP, do I have to change it? Do I have to change IP on my PC? Or do I have to add IP on controller? Now I doubt even about which port I should use. Please help me anyone It's been really long 3 days

Hello everybody! I'm in process of installation the ready2_animate pro and manual says:
"

3. Open the file ready2_animate_pro.xml.

4. Adapt the parameter as required.

5. Save and close the file.

"
And ready2_animate_pro.xml looks like this:

So my question is: How do I adapt this? Is this file is even OK? Maybe I should open this file with special application?

Quote from SkyeFire

I've never worked with it, but I understand that KUKA offers the EntertainTech option package for just this kind of thing. It's used heavily in KUKAbots that are part of amusement park rides (Harry Potter at Universal, the ski-slope simulator at Disney Legoland, etc).

I have ready2_animate(basic and pro) and it's a next generation of EnterntainTech if i understand it correct. And I didn't find any of this functional in it yet but thanks!

Quote from geraldft

If you generate moves in Mimic and run them with R2A, then that is time-based, and they should stay in sync. So use the method of waiting for input on both machines...

Thanks mate! I still have yet to understand the terms you're using, and then figure out how to use it cause as I mentioned I'm a total newbie but anyway I really appreciate you.

Quote from panic mode

You can have both get started separately and waiting for an input. Then they can run together. This is simple and free but will have some limitations. For example if someone changes speed on one robot they will be out if sync. They will get out of sync eventually anyway...

If oerfect sync is required check the roboteam manual.

Thanks! Sorry for a stupid question, I'm a total newbie and I wonder how much they'll get out of sync? For example if one of them will hold a camera and another one specific object, how much time they'll move as it supposed to be? I'm gonna use ready2_animate which allows me to play back time-based control programs

Do they get out of sync cause of inaccuracies of robots or there is another reason?

Hello guys! I just got two Kuka's KR210-3100 with KR C4. I'm gonna animate them through Mimic for Maya and I wonder how do I start them both at the same time. I mean there are gonna be shows where they'll have to make the same moves and I think trying to press two buttons at once isn't the best idea. I've heard about TouchDesigner and I'm sure it's a powerful tool if you know how to use it bot I'm total newbie. So I think there is an easy way to make this work. Or maybe some of you have ready-made solution for this. By the way I'd be glad if some of you can give me some info about any interaction with Kuka and TouchDesigner. Appreciate for any help!

Quote from SkyeFire

I'm not aware of any. RoboDK, ProcessSimulate, and other 3rd-party programs generate programs for every robot brand, they don't translate between them. They achieve this by having their own internal "common" language, and a series of brand-specific postprocessors to translate from that common language into each brand-specific language.

These sim programs also produce very simple programs for each brand. In theory, such simple programs should be translatable between brands, but as soon as you begin adding complexity (say, Interrupts), these operations become so unique per-brand that the difficulty of translating just expands exponentially.

Quote from kwakisaki

100% concur with SkyeFire

I respectfully disagree.

Some Kawasaki commands (AS) are actually small macro's which include other functions.

eg:

- OPENI and CLOSEI - activate clamp signals and turn off CP for the motion and are motion commands.

You also have Block Programming too which again use hidden macros specifically targeting the application it is set up for.

Couldn't have said it any better.

Just to move from A to B should be straight forward, but as SkyeFire mentions - complexity and additional functionality will be brand specific example above.

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Thank you guys for your answers! But what if I have really simple VAL3 code like this and I need to translate it to AS language?

<?xml version="1.0" encoding="utf-8"?>
<Programs xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns="http://www.staubli.com/robotics/VAL3/Program/2">
  <Program name="main">
    <Code><![CDATA[begin
  close(tCurrentTool)
  pPointRx.config.shoulder = lefty
  pPointRx.config.elbow = epositive
  pPointRx.config.wrist = wpositive
  pPointRx2.config.shoulder = lefty
  pPointRx2.config.elbow = epositive
  pPointRx2.config.wrist = wpositive
  mCurrentSpeed.tvel = 100.00
  mCurrentSpeed.blend = joint
  mCurrentSpeed.reach = 0.010
  mCurrentSpeed.leave = 0.010
  // Program start
  mCurrentSpeed.tvel = 200.000
  call MoveJoint(0.000,0.000,-90.000,0.000,0.000,0.000)
  call MoveJoint(0.000,0.000,-90.000,-82.689,0.000,82.689)
  call MoveJoint(-0.001,-0.001,-90.001,-82.321,0.000,82.321)
  call MoveJoint(-0.002,-0.002,-90.002,-82.193,0.000,82.193)
  call MoveJoint(-0.004,-0.004,-90.004,-82.216,0.000,82.216)
  call MoveJoint(-0.007,-0.007,-90.006,-82.256,-0.008,82.256)
  call MoveJoint(-0.010,-0.010,-90.008,-82.252,-0.008,82.252)
  .......................
  call MoveJoint(0.000,0.000,-90.000,360.000,0.000,-360.000)
  call MoveJoint(0.000,0.000,-90.000,360.000,0.000,-360.000)
  
  waitEndMove()
  // Program end
  
end]]></Code>
  </Program>
</Programs>

Hello everybody! All the programming languages for robot arms are pretty similar so I think maybe there is a some kind of parser that can parse for example Kuka's code into Kawasaki's AS language? For example RoboDK makes code for almost every robot. Do you know the ways I can implement it?

Quote from kwakisaki

Welcome to the forum...............

What advice are you looking for as your post covers several areas and set out a guessing game:

- Newbie to robots (suggest a training course and learn how to program).

- Jerky movements (has the robot been setup correctly for the application).

- What you are trying to achieve exactly (no mention of what it is you are doing with the robot).

From the above, my advice would be to contact your local Kawasaki distributor.

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I'm sorry.

I want to use this robot for all sorts of concerts and presentations. For example, we already used it as a screen holder, it moved the screen and it made a cool show, but it is quite difficult to make really beautiful and complex movements, and in this field it is important to do everything in a short time.

While searching for some options, I came across the Mimic plugin for Maya. It's used for cinematography, and the guys use it to make truly mesmerizing moves. The problem is that this plugin doesn't support my robot and even though it's possible to add this rig, there's quite a big challenge to implement support for the kawasaki postprocessor. So I figured maybe there's some more obvious way to do this kind of thing.

As for contacting a distributor, I live in Kazakhstan and we don't have a distributor, the robot was bought and brought from abroad.

Anyway thanks for the correction, I appreciate it.

Hello everybody! I'm a newbie to robots so I apologize for the possibly weird questions. I work in scenic equipment company, our job is making shows. We just got Kawasaki BX200L-E and it's all good but it has really jerky movements. I find out there is a lot of software where you can like draw trajectory, for example Mimic for Maya or Autodesk Powermill. But all this soft never support specifically my robot. So maybe you can give me any advice, I will be really grateful, thanks a lot!