Almost reay for Milling!

    Quote from RAS-Skordos GR


    A combination of the two? :smiling_face: (unless I didn't understand correctly....)

    Why don't you leave the robot on the track (so that you can mill lengthy objects) and also place the rotary horizontally directly on the floor (for working like lathe)?

    That's what this picture illustrates, there should be a Robot on track beside it, I didn't added them in.

    but it will take me some time to drill the holes into the concrete floor 30 holes + hammering anchor wedges. I'm thinking of a simpler solution maybe a couple of H-beam link between the Headstock and the taistock to increase strength and prevent from bending.

    Some updates on External axis:


    I was asked to provide the distance X,Y,Z, from the rotary centre point to A1 centre point:


    I manage to find the distance for X and Y, struggled a bit on the Z. The coordinates from the centre of the rotary plate:
    X =1852.160
    Y = -31.5
    Z = 1180.5362
    I'm not sure if the Z value is correct, the above picture Z = 1180.5362, if I change the Z value = 0 which means the same height as A1 centre point, but somehow it went even further down, way low, under the ground (I stopped before touching the ground), can someone explain this?


    thanks,

    Well, it depends on what software you have, and what you might be willing/able to buy. Some posters here use SprutCAM, others have used RobotMaster (IIRC), and I think Rhino and/or Grasshopper have shown up sometimes. Also, there are KUKA tech packages that will accept CNC G-code, although which one you can use will depend on the model and age of your robot controller.

    It is not that simple - you can't execute G-code directly in a robot.
    You will need to "translate" the G-code via postprocessor in your CAM software to get the right language and commands for the particular robot.
    It is all depend of what are you using for CAM programming and are you ready to learn new software if needed.
    You will also need to have proper simulation and collision/singularities checking and code editing software - to check the created code before you start it on the robot.
    So basically it is structured like that:

    CAM software -> Postprocessor -> Simulation&Verification -> Execution on the robot

    Quote from SkyeFire


    I believe that, for the KRC4, the software option is called KUKA.CNC. However, I do not know much about it, other than that it allows the KUKA robot to execute G-code.

    We have had KUKA.CNC on a few of our robots. It's a nice bit of kit. It DOES allow the execution of g-code, as the file extensions are .nc if I remember correctly. One advantage of it is that it has no file size limitation as programs are stored directly on the C drive in the robot rather than in R1. It also runs an axis 1 backlash compensation move at the start of each program. We had much better machining results using KUKA.CNC files as opposed to regular .krl files as they use spline blocks in the programs, something which I can't get working in .krl files as I haven't had time to play with it yet.

    it's not code, it's a compensation tuning built into the controller that you have to set up in the kuka interface. Actually in that case there's probably a .dat file somewhere in the system that has the code at least for the parameters.

    kuka CNC does allow the robot to run g-code, although like every controller that takes G-code, it isn't always exactly like your standard FANUC-cnc code, so you will need to post-processes the code in a particular way.

    I have done test cuts with it and the results are impressive if not just from a usability (memory limitation is not an issue).
    The new Kuka controller is a great platform

    Taylor Guitars - Robotics Engineer
    - IRC5 IRB4400
    - IRC5 IRB2400
    - S4C+ IRB4600
    - S4 IRB2400
    - Epson G3-351 RC180

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