Hello
Im trying run milling on KRC1 with help Sprutcam. I created some milling path in sprutcam ....see attachment
The problem is, why I have arc instead of the lines in real test on kuka?
I used 16mm mill tool...
Problem between KRC1 and SprutCam?
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kotlas6667 -
October 24, 2018 at 2:58 PM -
Thread is marked as Resolved.
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You mean, why does the rectangular cut have a rounded end, rather than a squared off end?
That's simple. Your program is using C_DIS on each motion, for smooth approximation, but you're not setting $APO anywhere. So the BAS(#INITMOV) is setting it to the default, probably 100%, and that means all the motions get rounded off, starting at one half the distance between sequential positions.
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You mean, why does the rectangular cut have a rounded end, rather than a squared off end?That's simple. Your program is using C_DIS on each motion, for smooth approximation, but you're not setting $APO anywhere. So the BAS(#INITMOV) is setting it to the default, probably 100%, and that means all the motions get rounded off, starting at one half the distance between sequential positions.
Hm... Do you think when i put bas(#initmov, 0) on top of me program it will ok? -
Nope, you have to put in $APO.CDIS = ( insert value here) before your motions
small tip, don't make the value 0. when the value is zero the robot will stop in each point and i my experience the robot tends to wiggle a bit while starting and stopping and that also doesn't look nice in a cut.
You would have to experiment a bit for what works best for you. -
Yes, $APO needs to be "tuned" for what you're trying to accomplish. Making it zero will be too much, as Leon described. Making it larger than zero will depend in part on just how tight a corner you are trying to cut, and the diameter of your cutter relative to that corner radius.
An alternative approach might be to try using Spline motion. "Regular" motion in robots treats approximated points like attractors -- the TCP is allowed to "cut the corner" past them, based on the value of $APO.
Spline motion pre-plots a smooth, approximated motion path, that forces the TCP to pass directly through each point, rather than simply "near" it.
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Thank you all.... Krc1 has spline lines? eg. SLIN {x 110, y 30,z 50)?
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Oh, KRC1. No, I don't think the KRC1 can support Spline motions -- that didn't come out until KSS 5.2 or later, IIRC, and I think only KRC2s could use KSS versions 5.x.
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i think there is no problem. you can not make a square corner. you will see always the tool radius. you are using 16mm tool.