Setting robot start point on a milling project RoboDK

  • Hi Everyone,


    I am a newbie to robotics, but have 15 years experience in the stone sculpting trade. I have a Kuka KR120 2700 and I purchased a license of RoboDK. I would really appreciate tips on how to setup the start position of my milling project.


    How do I set Robot start point? I ran a simple joint movement program today and my robot wanted to turn almost 180'


    Mike Rhodes


    Any help would be priceless for me!


    MR

  • AD
  • I suppose this program was generated from RoboDK. If so, what post processor was used?


    How this first PTP movement was programmed?


    Normally, what I've saw was milling programs beginnings with something like PTP $POS_ACT, to get the BCO in robot current position. (so, depending on its current position, it can flip, crash and so on).


    You also need to take care about inserting regular movement inline formulars in the middle of raw KRL paths, since robot can "inherit" a wrong wrist config and make strange movements to try to correct itself

  • How do I set Robot start point? I ran a simple joint movement program today and my robot wanted to turn almost 180'

    It would help if you posted the actual robot code that's doing this.


    Also, how are you calibrating the RDK sim and the real-world robot? In both cases, every point is programmed relative to a reference frame. If you don't ensure that that reference frame is the same in both the virtual and real robots, you can easily get this kind of behavior.

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