[ophakala]

Hi,

How is this end position for first PTP movement defined and is there a way to set same position for every program? Maybe in post processor?

I have been making a lot of milling programs lately and this has been my concern because there seems to be no logic in where the robot is heading during the first PTP move.

[Olivier]

Can you give more details about how you generate the milling program? Is it from a curve follow project?

[ophakala]

I have done the milling toolpath in Fusion 360 and I get a .tap file from there. Then I make the robot program in RoboDK using Robot Machining Project and select the NC file in Path input.

It´s possible to check the real robot position and modify the first PTP motion joint values manually after code generation but it`s not really effective.

[Olivier]

You can modify the approach and retraction paths in the Machining settings.

You can also modify the targets in the program itself by right-clicking the generated program and selecting "Show instructions"

[ophakala]

Thanks for your response, I´m familiar with these options but the first PTP position and approach point are not the same.

如果我使用一个主程序ll the milling path as program call then I think this will be fine, then I can set a constant position for that PTP move and it always goes to same position. If the size or place of milling stock differs then I have to set the position again but maybe this cannot be avoided.