[ophakala]

Hi again!

I have done this pipe cutting program with synchronized robot and external axles (rotating and linear), picture in attachments. I have set the home position as shown in the picture so that robot is midway on track and rotating axis is positioned horizontally.

I`m trying to use nesting software called Libellula in this project and that`s why I wanted to know if it`s possible to import NC file to RoboDK when using external axes and what I´m possibly missing at the moment. Libellula sends GCode as an output so I tried to demonstrate that by selecting "GCode BnR" as post processor and importing the nc file back to RDK but I can`t get the rotating axis work correctly. Do you know what might cause this behavior? Machining settings window is shown in attachments.

Thanks in advance.

[Jeremy]

Post-processor and importation of G-Code arent related.

Post-processors are for generating robot code from RDK when the simulation is completed.

Importing G-Code using external axes should work.
I'm not familiar with Libellula, but does it have a post-processor generating .apt files? If so, you should try with that file format.

You can link your .rdk station and your NC file so we can better help you.

Jeremy

[ophakala]

Hey,

I´m not sure about the exact format Libellula is generating but I will check that. Maybe we will try to use KUKA CNC option to compile the program to robot so this nc program was made using KUKA CNC post processor, earlier I spoke about different post processor but it didn`t let me remove this attachment so let`s continue with that. Libellula is made for tube laser production so I try to keep the robot arm still and use the external axles for moving.

[Jeremy]

It won't work with the post-processor you selected (Kuka CNC).
You need something more generic.

RoboDK将care of translating all of that to something the KUKA controller can deal with.

Jeremy

[ophakala]

The original files didn`t work but these are very close

[ophakala]

I managed to find a solution to similar application when I changed various settings, now I just have to figure out which of these changes were critical. Here is the RDK file attached if you want to have a look.

[Jeremy]

Nice work!

Let us know about your findings.
And, if it's not confidential, feel free to send a short clip of the robot in motion when it works.

Jeremy

[ophakala]

Hey,

I noticed that my milling stock was using the opposite Z direction compared to my model and RDK milling reference. I think that was the biggest thing, and problems related to robot arm were solved by modifying Axes optimization settings.

At the moment we don`t have any robot with milling equipment but I will keep that in mind.