[sreshtiyer]

Hey! So I want to run a robot machining project with a g-code file. The difference is that each movement instruction in the G-code like has 3 additional values apart from the normal X ,Y , Z and E parameters as shown below.

Code:

G1 X3.650 Y-9.611 Z1.500 nX0.000 nY-0.000 nZ1.000 E0.103
G1 X2.700 Y-9.920 Z1.500 nX0.000 nY-0.000 nZ1.000 E0.169
G1 X1.724 Y-10.139 Z1.500 nX0.000 nY-0.000 nZ1.000 E0.236

These nX, nY and nZ represent the euclidian angles of the robot's tool orientation. When I try running the g-code normally by starting a machining project, although there are no errors, the robot simply goes to a point for the entire operation. Is there a way to input these nX, nY and nZ values from each line of the g-code to the tool orientation angles in the post processor? I am using an ABB IRB120 for the same. Kindly do let me know! Thanks in advance!

[sreshtiyer]

Hey! So I want to run a robot machining project with a g-code file. The difference is that each movement instruction in the G-code like has 3 additional values apart from the normal X ,Y , Z and E parameters as shown below.

Code:

G1 X3.650 Y-9.611 Z1.500 nX0.000 nY-0.000 nZ1.000 E0.103
G1 X2.700 Y-9.920 Z1.500 nX0.000 nY-0.000 nZ1.000 E0.169
G1 X1.724 Y-10.139 Z1.500 nX0.000 nY-0.000 nZ1.000 E0.236

These nX, nY and nZ represent the euclidian angles of the robot's tool orientation. When I try running the g-code normally by starting a machining project, although there are no errors, the robot simply goes to a point for the entire operation. Is there a way to input these nX, nY and nZ values from each line of the g-code to the tool orientation angles in the post processor? I am using an ABB IRB120 for the same. Kindly do let me know! Thanks in advance!

Never mind, it worked once I replaced nX, nY and nZ to I, J and K!

[Albert]

我们刚刚更新RoboDK支持工具取向given nX, nY, nZ values for robot machining when using G-code. It should have the same effect as I,J,K.