Posts by massula

    When we talk about programming a robot with RoboDK, there are two approaches You can have.


    The most common is use RoboDK to generate an OLP (offline program), that You will download from RoboDK and upload on You robot in some way or another. On these cases, what I see people using on these DIY projects is generating programs in G-CODE language, and uploading it to Arduinos using some third party software, like G-Code Sender.


    The uncommon approach would be controlling the mechanical arm directly from RoboDK. This would require some digging at RoboDK API and I don't know any step by step guide available out there.


    RoboDK API - RoboDK Documentation


    Anyway, using approach 1 or 2, You will need to build Your robot inside RoboDK. There is a good list on RoboDK YouTube channel.


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    There are some methods of calibration.


    Some are easier, some are more complicated and demand more resources, as, for example, make a frame calibration using a laser tracker or similar equipment.


    If You are using Process Simulate, I think the easiest route is use Process feature called... Calibration.


    It is located in Robot Tab.


    Calibration is a little bit tricky, and I won't go inside its specificities, so You would need to consult the PS documentation very carefully.


    But the basic workflow is:


    - Create a Operation, inside PS, and teach at least four points, with robot "touching" a fixed part on the fixture you want to calibrate with on of its TCPs. If necessary, You can create a specific calibration TCP.

    - Make the download from Process Simulate, and load the program in the robot. Rename this program inside the robot.

    - Drive the robot to the real calibration points. The positions will probably have some small deviations. Move the robot to the right positions, and teach the calibration points on their righ positions.

    - After finished, You will make a robot backup, and upload the renamed program on PS.

    - After this, You need to use the Process Simulate Calibrate tool to make the corrections on your cell/fixture.

    - After the differences from real word are accepted on virtual cell, You can download Your work programs on the real robot and make the tests.

    You need to make a process called Calibration, that will inform the simulation software about the differences on placement of the real cell, compared to the virtual cell.


    There are some methods, were You can calibrate individual programs, or You can create one or more User Frame and calibrate them. This will depend on Your setup and Your needs.

    Some time ago, SkyeFire posted his GCode to KRL (KUKA Robot Language) on KUKA board.



    Since You know INFORM and Python, I think this can be a good starting point.


    Anyway, the generated .jbi file still need be tested on on a real robot (or Motosim), to check syntax and so on.


    On the simulator side, I think RoboDK can handle this kind of task. And You can download a demo on their site, so is a question of deciding what direction would be more cost effective.

    I think the development of UserTech ILFs with WorkVisual will depend on what is the KSS version of the target controller.


    I could use some common optional ILFs , as GripperSpotTech in newer versions of WorkVisual, but the controller in the WoV had Kss 8.6.x.


    I suppose with everything (KOPS, KFDX files) in place, WoV should work with UserTech.


    For older robots, with KSS 8.3 or below, You could try OrangeEdit. Or pay a license to use it with newer controllers.

    As far I can tell, there are (or was) two official options for Yaskawa development.


    JobEditor, a glorified text editor for jobs (programs), that has some nice features, and MotoSim, a full simulator, that has most of JobEditor features built-in.


    Best option? MotoSim.


    More expensive option? MotoSim.


    Both require licenses.


    P.S.: I'm note really sure if JobEditor is offered by Yaskawa anymore. I'm not seeing it on their websites from some time to now.

    About Your list.


    Vrep - general simulator, but I'm not sure if it has OLP capabilities.

    RobotExpert - a sort of capped version of Process Simulate. If I'm recall correctly, it isn't offered by Siemens anymore.

    RobotWorks - if this is the software I'm thinking, it is a SolidWorks add-on focused on milling applications

    Fanuc Robotguide - I think this one will have more information available elsewhere. Roboguide has a good number of features, but as Skyefire mentioned, is for FANUC robots only.

    LT Workspace - a rebranded version of Workspace 5 with a different business model.


    From this list, I know Roboguide, and demoed RobotExpert and Workspace 5 (father of LT Workspace) in the past.


    As far I can tell, the only one focused on educational environments is LT Workspace.


    But I think You first decide what kind of application You want to simulate, and after this, You can puck the best software solution for Your case.


    If You need simulate a real robot that isn't a FANUC, Roboguide won't help. If You need simulate a pick/drop process, RobotWorks won"t help. If You need generate robot code from Your simulation, maybe VRep won't help, and so on.

    Well, for this specific version of KRC, You would need an old version of OfficeLite, and I'm not sure if these older OL versions would communicate with newer KUKA.Sim.


    But newer KUKA.Sim releases - that, judging by the picture, is your case - have some standalone capabilities.


    By the way, what version of KUKA.Sim You are using? 3.x? 4.x?


    Before loading the programs, did You put the right TCP value on Your virtual robot?


    i was looking at Your backup. Lets say I've stumbled on some cells from this particular machine builder in the past, and their robots normally work on very constrained spaces.

    In the last years, I'm trying to stick with WorkVisual, even with its inherent problems, using Notepad++ here and there to do some heavy lifting when needed.


    Anyway, I have VS Code installed on my machine, and I have the Industrial Robots extension developed by RoboDK people.


    Industrial Robots - Visual Studio Marketplace
    Extension for Visual Studio Code - Robot Programming Syntax Highlighting for Industrial Robots. Supported languages include: ABB RAPID, Fanuc LS, KUKA KRC,…
    marketplace.visualstudio.com


    It has syntax highlight and code completion for various brands besides KUKA, and its actively maintained.

    Don't have my computer at hand right now, but looking at the RoboDK documentation, looks like it is possible to adjust a parameter to generate more or less points in the path.


    Laser Cutting - RoboDK Documentation


    Quote

    Note: In the Advanced Settings tab, you can find the Linear Tolerance that will control the number of points you will send to RoboDK. The smaller the number is, the higher the number of points and therefore the precision of the path.

    If Your robot has FLAG option enabled, You can tray something like this inside Your BG LOGIC progam, I guess.


    Code
    1:  IF (F[1:OFF]),JMP LBL[1] ;
    2:   ;
    3:  !My PR code here ;
    4:   ;
    5:  F[1:OFF]=(OFF) ;
    6:  LBL[1] ;

    If not, You can use an spare DO instead of a FLAG.

    When You say multitask You are referring to BG Logic?


    If so, You need to avoid executing this part of the code every BG LOGIC cycle.


    Depending on the controller generation You have, You can try to use IF and JUMP/LABEL statements to execute this piece of the code only when You have a certain DO or FLAG set in the running programs.

    Yes, You will need to install the right KOPs (KUKA Option Packages) on Your WorkVisual before deploy the project.


    You will find these KOPs on the D: drive of Your robot, on a folder called KUKA_OPT or something like that.

    Anyway, to uninstall it, You must in Expert mode, go MENU > Start-up > Install Additional Software and press Uninstall button. You must reboot the controller.


    To reinstall it, if You have an old 8.3 (and here is important to know the third number on KSS version), like 8.3.12, You will go the same Install Additional Software, but this time press New Software, and choose ProfiNet package.


    I'm assuming the paths for additional software are configured and the installer files are in the right place.


    If You have an newer 8.3, like 8.3.38, I think a this point ProfiNet was installed with KOPs and WorkVisual, so I recommend You to take a look in the manuals to check the procedure.

    So, I should correct my last advice.


    When I wrote


    But AFTER going this way, I would recommend try to restore an good and reliable normal robot archive (backup).


    I was meant


    But BEFORE going this way, I would recommend try to restore an good and reliable normal robot archive (backup).


    -----


    Did You tried to restore a good backup before reinstall ProfiNet?


    To me, this looks more a corrupted configuration file than the driver itself.