Hi,
I am currently a university student who is doing a year in industry. I have been tasked with learning how to operate our in-house KUKA robot with KR C2 software. So far I have learnt all of the things I know myself basically and so I am very limited on knowledge so far. I wanted to know how to calculate the co-ordinates to input a Circular motion into the program to enable the robot to drill a 22mm hole as drilling straight through would not be ideal in this situation. This is probably a simple request, however I can't find anything and the slight instructions I have had haven't answered my questions. Please help
How to calculate co-ordinates to manually input a tool-path into KUKA robot
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EmmaHAssemtron -
September 25, 2018 at 10:15 AM -
Thread is marked as Resolved.
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In this forum there is a manual section, find the expert programming manual and look up the CIRC and CIRC_REL functions
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"Drill a 22mm hole"... with what size cutter? Or are you attempting to create a "spiral" bore cut with an end mill?
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it is just a challenge for a student to see what he/she is capable of
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Well, it will be a "spiral" bore cut with an end mill as Fiberglass is not something I want to use a 22mm drill-bit on. If I was to use a 22mm drill-bit though function would also be easy as it would be a simple LIN instruction. I want to work out how the Auxiliary and End Points work. I have multiple documents containing information on how to program them but nothing tells me how the co-ordinates are calculated. Like I said, it is probably simple to anyone who has used these robots for long enough but I am having to learn very fast and on my own. I'm working in a company so they are relying on me to get the robot fully functioning and producing our clients products within the next week.
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[size=2]calculation...?[/size]
[font=verdana, arial, helvetica, sans-serif][size=2]it should be obvious that robot would need to move along smaller circle during cut.[/size][/font]
[font=verdana, arial, helvetica, sans-serif][size=2] robot_path_radius = circle_radius - tool_radius[/size][/font]
[font=verdana, arial, helvetica, sans-serif][size=2]now since we are expressing circle and tool size as diameter, we can combine that with something that every student should know:[/size][/font]
[size=2] radius = diameter/2, [/size]
[font=verdana, arial, helvetica, sans-serif][size=2]result is calculation:
[/size][/font][size=2] robot_path_radius = (circle_diameter - tool_diameter)/2[/size]
[size=2]then you need to use this value in your motions.[/size]
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please check READ FIRST topic, it will point you to resources such as programming manual for system integrators. CIRC and CIRC_REL are well documented, should take 5-min to read. note, using points on quadrants (every 90deg) means calculations are very simple, just add radius to X and Y components.... moreover, you can use CA option to do circle in one instruction. i would cut a bit more than 360deg (for example set CA to 390 deg) to ensure clean cut.
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Well, a CIRC command would be iffy for this kind of application, although it probably could be made to work.
My preference would be to create a calculated circle in the XY plane, with Z increments associated to each point around the circumference of the circle.
I've attached a generic circle/ellipsoid program I created many years ago. Adding a fractional Z motion to each point of the circle should not be difficult. As long as you create a Base frame properly aligned with the surface you're trying to drill through, the math becomes relatively simple.
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SkyeFire I think this is probably the most useful information I have been able to receive as I don't think anyone has understood my question. However, I can't open either of these file types..
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[size=1em]
then what you you doing touching computers or trying to program robots?all files are either binary or text.... extensions are just used to create associations between files and applications.
if you try to open file in a text editor and see "hieroglyphics" that is a binary file. (EXE, XLS, DLL, etc.)
if you see text, it is a text file. (TXT, INI, XML, SRC, BAS, etc.)SRC and DAT files used by KUKA are text files so you can view them using just about anything - including simple notepad.
to work with Kuka files you may also install OrangeEdit (recommended) and Notepad++.
Notepad++ will need UDL for KRL (you can create one or search forum, i shared mine before).[/size]
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SkyeFire I think this is probably the most useful information I have been able to receive as I don't think anyone has understood my question. However, I can't open either of these file types.....they're plain text files. KRL program modules are generally made up of an SRC file (executable code) and a DAT file (static variables).
I can only advise strongly to start reading the Expert Programming manual, which (with many others) is available in the Manuals, Software and Tools sub-forum.