Hole cutting

Odd. Can you post the program the software generated?

I would lean toward a slightly off mastering for the odd shapes.

I think the CD termination type is causing your issue. You are telling it to round the corner 12mm away, so not even close to making a sharp corner. You can try reducing the CD value to 0 or 1, or you could test with a CNT0 or CNT5 termination. If you want a perfectly sharp corner you could use Fine termination, but it will stop briefly at that point.

What shape generation software are you using? Is it creating the program for you? If so, you might be better off creating your own programed path so you can fine tune it and understand how all of the parameters work.

dose the program software know what size your end mill is?

yes mastering could cause some of this, so could a bad TCP

the off angle rectangle looks like a U frame problem

Is there a way to implement this same idea to a CRX collaborative robot programming? Thank you.

Hi trobo0009,

I think you can order "shape generation 3 (R801)" for you crx...

What robot are you using to cut this shape?

Never used CD for cutting always used CNT. Did a lot fancy shapes waterjet cutting.

When doing complex forms like circles, what I found is that circular moves work better with CNT100 than with any other termination type as CR.

With other shapes like squares ot hexagons, the better results you will get will be using fine terminations, that is the only real way to ensure it will do a "sharp" cut. You can try with cnt0 or CR1... but on my experience, you need to get a compromise you are comfortable with, if you need accurate forms, you will be slower, if you do not need perfectly accurate forms, you can be faster.

If you want to do a perfect cut, assuming you use 4 points, you will need to go from point A to B, then to C, then to D, then to A and then to B again. This is because if you stop on the same point as you started you will most probably not cut everything..

Softwares used to generate paths for this applications are usually pretty bad at their job, often using more points than needed when shape is small (this slows down the robot movement a lot) or incorrect termination types. As this softwares are simulators, they are not running a virtual machine with the OS like abb or fanuc does with their softwares. This causes the generated paths to be trash most of times.

Finally, if you are using a waterjet, the upward force that cause the pressure can mess up with your path, that is the reason you need an accurate payload, and even with it you may need to trigger the valve opening outside the cutting area so the initial kick doesn't affect the cutting path (this is usually done triggering it above the material that will be discarded with the cut and then moving to the first point.

You can also try reducing accelerations, but I would not do it without first ensuring payload is correct and termination types from the path are correct.