A milling spindle is amounted to the robot (KR16 C2 V5.5.16). The following codes cut a spline:
Code
$TOOL=TOOL_DATA[3]
$BASE=BASE_DATA[3]
...
SPLINE WITH $VEL.CP=0.018
SPL {X -0.59,Y -1.16,Z -7.35,A 90,B 90,C 0,E1 0,E2 0}
SPL {X 4.38,Y -3.7,Z -7.35,A 90,B 90,C 0}
SPL {X 9.23,Y -6.11,Z -7.35,A 90,B 90,C 0}
...
ENDSPLINE
As shown in the above image, the black curve is the desired one, the red line is the actual cutting path (concerning the radius of the cutter).
Two identical pieces fit perfectly:
Now I get a wired problem when adding two short straight lines at the beginning and at the end of the spline:
Code
$TOOL=TOOL_DATA[3]
$BASE={X 590.68,Y -1486.22,Z 269.93,A 108.54,B 0.75,C 13.78}
...
SPLINE WITH $VEL.CP=0.016
SPL {X 0,Y -1.35,Z -7.51,A 90,B 90,C -90,E1 0,E2 0} ;straight line starts
SPL {X 10,Y -1.35,Z -7.51,A 90,B 90,C -90} ; straight line ends
SPL {X 9.38,Y -1.2,Z -7.51,A 90,B 90,C -90}
SPL {X 14.21,Y -3.66,Z -7.51,A 90,B 90,C -90}
...
ENDSPLINE
Two resulting pieces do not fit, though two splines do fit in computer screen (one spline is rotated 180 degere).
fitting:
In short, everything is fine in computer, but the two pieces actually do not fit together, which I cannot understand.
Any help?