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Kuka IIWA - Post Processor and sub-program
#1
Hello,

I am currently working on a Kuka IIWA 14 and I am experiencing two persistent issues:

1) Modification of the Kuka IIWA post processor

I would like to add in the post processor code lines to automatically increment each time the program is generated.
Previously I worked on the post processor of an UR10 and the UR10 was quite easy to modify.
That of the Kuka IIWA does not allow me to directly add / modify code.
If I understand correctly, the latter imports the information by "sys" and "os".

Where can I find these files?

2) Main and sub-program

The Kuka IIWA post processor does not allow you to divide a large program in sub-program.
If I do not do this, the robot controller will not accept the program because it is too long.
I also tried to limit the maximum number of actions per program but that doesn't change anything.

How to solve this problem ?

Thank you in advance for your help,

Regards,

Jerome


Attached Files Thumbnail(s)
   
#2
Hi Jerome,

I attached the KUKA IIWA post processor.

You can use Python to automatically count. You may need to create a separate file on your computer to remember the count and increase it every time you generate a program.

You can modify the post to have automatic splitting. The following link provide more information about modifying a post processor for a specific robot:
https://robodk.com/doc/en/Post-Processor...SelectPost

Albert


Attached Files
.py   KUKA_IIWA.py (Size: 19.16 KB / Downloads: 79)
#3
Hi Albert,

Thank you very much for the KUKA_IIWA post processor.

For the sub program, I followed the procedure as described in the following link (https://robodk.com/doc/en/Post-Processor...pleOneProg) but it does not split my program into a sub programs.
Do you have a solution ?

Thank you in advance for your help,

Regards,

Jerome


Attached Files
.py   KUKA_IIWA.py (Size: 19.38 KB / Downloads: 72)
#4
Hi,

I am trying to help me with the kuka KRC2 post processor to integrate the MAIN and SUB_PROGRAM part to the IIWA post processor but it cannot be found in the source folder "Posts" (see attachment).
At the same time I tried to uncompile the KUKA_KRC2.pyc post processor but once transferred to a .py file, it does not work in RoboDK.

Where can I find the original program?

Cordially.

Jerome


Attached Files
.py   KUKA_KRC2.py (Size: 1.1 KB / Downloads: 61)
#5
Hi Jerome LC, 

Here the KRC2 post-processor. 

Jeremy


Attached Files
.py   KUKA_KRC2.py (Size: 35.64 KB / Downloads: 87)
Find useful information about RoboDK and its features by visiting our Online Documentation and by watching tutorials on our Youtube Channel


#6
Hi everyone, I have been solving the same problem for the last two days. The .py file contains only a link. It is a pity that the files are compiled and cannot be edited. As mentioned in the video tutorial. https://youtu.be/lbycCDjtOnE
I see the ability to easily modify the postprocessor as a great advantage of RoboDK, which cannot be used in this way.
#7
Hi NDivad,

We no longer provide the .py script with the default RoboDK installer.
But if you ask for almost any of them, we will provide it as I just did for Jerome.

Jeremy
Find useful information about RoboDK and its features by visiting our Online Documentation and by watching tutorials on our Youtube Channel


  




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