Hi all,
I have a KUKA KR240 KRC2. I have just calibrated my tool (tool1) and base and entered the TCP to Sprutcam machine maker. So my first project was a relief on the base table. When I use no tool in Sprutcam all good, tip of the tool follows the toolpath. If I add any other (naming it again Tool 1) the simulation changes but Robot toolpath is always the same.
No Tool
Code
DEF TAP0MM()
GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )
INTERRUPT ON 3
$APO.CDIS = 0.5000
BAS (#INITMOV,0)
BAS (#VEL_PTP,20)
BAS (#ACC_PTP,20)
$BASE=BASE_DATA[1]
;$BASE={X 1944.831, Y -280.731, Z 495.083, A -0.848, B 0.077, C -0.472}
$TOOL=TOOL_DATA[1]
;$TOOL={X 124, Y 0, Z 300.002, A 0, B 60, C 0}
$advance=5
$VEL.CP=0.167
PTP {A1 -7.609, A2 -71.001, A3 110.067, A4 68.974, A5 68.124, A6 -123.359, E1 0, E2 0, E3 0, E4 0, E5 0, E6 0}
LIN {X 11.734, Y 140.168, Z 80.64, A 103.804, B 0, C 180} C_DIS
LIN {X 11.734, Y 140.168, Z 32.482, A 103.804, B 0, C 180} C_DIS
$VEL.CP=0.083
LIN {X 11.734, Y 140.168, Z 20.482, A 103.804, B 0, C 180} C_DIS
CIRC {X 11.844, Y 140.391, Z 22.359, A 103.811, B 0, C 180},{X 12.106, Y 140.92, Z 24.158, A 103.827, B 0, C 180} C_DIS
CIRC {X 12.32, Y 141.355, Z 24.806, A 103.84, B 0, C 180},{X 12.595, Y 141.913, Z 25.325, A 103.856, B 0, C 180} C_DIS
CIRC {X 13.041, Y 142.818, Z 26.593, A 103.883, B 0, C 180},{X 13.664, Y 144.08, Z 27.397, A 103.921, B 0, C 180} C_DIS
CIRC {X 14.4, Y 145.571, Z 27.559, A 103.965, B 0, C 180},{X 15.138, Y 147.065, Z 27.455, A 104.01, B 0, C 180} C_DIS
LIN {X 16.843, Y 150.523, Z 27.175, A 104.113, B 0, C 180} C_DIS
CIRC {X 18.31, Y 153.494, Z 26.389, A 104.201, B 0, C 180},{X 19.623, Y 156.156, Z 24.72, A 104.28, B 0, C 180} C_DIS
LIN {X 20.192, Y 157.308, Z 23.692, A 104.314, B 0, C 180} C_DIS
CIRC {X 20.882, Y 158.705, Z 22.493, A 104.355, B 0, C 180},{X 21.235, Y 159.42, Z 20.696, A 104.376, B 0, C 180} C_DIS
CIRC {X 21.334, Y 159.622, Z 19.862, A 104.382, B 0, C 180},{X 21.357, Y 159.668, Z 19, A 104.384, B 0, C 180} C_DIS
LIN {X 26.696, Y 170.487, Z 19.023, A 104.703, B 0, C 180} C_DIS
CIRC {X 26.951, Y 171.003, Z 20.399, A 104.718, B 0, C 180},{X 27.558, Y 172.233, Z 20.983, A 104.754, B 0, C 180} C_DIS
CIRC {X 27.925, Y 172.976, Z 20.598, A 104.776, B 0, C 180},{X 28.178, Y 173.49, Z 19.884, A 104.791, B 0, C 180} C_DIS
LIN {X 28.226, Y 173.586, Z 19.727, A 104.794, B 0, C 180} C_DIS
LIN {X 28.264, Y 173.663, Z 19.557, A 104.796, B 0, C 180} C_DIS
LIN {X 28.291, Y 173.719, Z 19.377, A 104.798, B 0, C 180} C_DIS
LIN {X 28.308, Y 173.752, Z 19.19, A 104.799, B 0, C 180} C_DIS
LIN {X 28.313, Y 173.763, Z 19, A 104.799, B 0, C 180} C_DIS
LIN {X 36.866, Y 177.763, Z 19.012, A 104.923, B 0, C 180} C_DIS
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150mm Tool
Code
DEF TAP150MM()
GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )
INTERRUPT ON 3
$APO.CDIS = 0.5000
BAS (#INITMOV,0)
BAS (#VEL_PTP,20)
BAS (#ACC_PTP,20)
$BASE=BASE_DATA[1]
;$BASE={X 1944.831, Y -280.731, Z 495.083, A -0.848, B 0.077, C -0.472}
$TOOL=TOOL_DATA[1]
;$TOOL={X 236.583, Y 0, Z 365.002, A 0, B 60, C 0}
$advance=5
$VEL.CP=0.167
PTP {A1 -7.640, A2 -74.989, A3 108.945, A4 67.147, A5 70.058, A6 -118.296, E1 0, E2 0, E3 0, E4 0, E5 0, E6 0}
LIN {X 11.734, Y 140.168, Z 80.64, A 103.804, B 0, C 180} C_DIS
LIN {X 11.734, Y 140.168, Z 32.482, A 103.804, B 0, C 180} C_DIS
$VEL.CP=0.083
LIN {X 11.734, Y 140.168, Z 20.482, A 103.804, B 0, C 180} C_DIS
CIRC {X 11.844, Y 140.391, Z 22.359, A 103.811, B 0, C 180},{X 12.106, Y 140.92, Z 24.158, A 103.827, B 0, C 180} C_DIS
CIRC {X 12.32, Y 141.355, Z 24.806, A 103.84, B 0, C 180},{X 12.595, Y 141.913, Z 25.325, A 103.856, B 0, C 180} C_DIS
CIRC {X 13.041, Y 142.818, Z 26.593, A 103.883, B 0, C 180},{X 13.664, Y 144.08, Z 27.397, A 103.921, B 0, C 180} C_DIS
CIRC {X 14.4, Y 145.571, Z 27.559, A 103.965, B 0, C 180},{X 15.138, Y 147.065, Z 27.455, A 104.01, B 0, C 180} C_DIS
LIN {X 16.843, Y 150.523, Z 27.175, A 104.113, B 0, C 180} C_DIS
CIRC {X 18.31, Y 153.494, Z 26.389, A 104.201, B 0, C 180},{X 19.623, Y 156.156, Z 24.72, A 104.28, B 0, C 180} C_DIS
LIN {X 20.192, Y 157.308, Z 23.692, A 104.314, B 0, C 180} C_DIS
CIRC {X 20.882, Y 158.705, Z 22.493, A 104.355, B 0, C 180},{X 21.235, Y 159.42, Z 20.696, A 104.376, B 0, C 180} C_DIS
CIRC {X 21.334, Y 159.622, Z 19.862, A 104.382, B 0, C 180},{X 21.357, Y 159.668, Z 19, A 104.384, B 0, C 180} C_DIS
LIN {X 26.696, Y 170.487, Z 19.023, A 104.703, B 0, C 180} C_DIS
CIRC {X 26.951, Y 171.003, Z 20.399, A 104.718, B 0, C 180},{X 27.558, Y 172.233, Z 20.983, A 104.754, B 0, C 180} C_DIS
CIRC {X 27.925, Y 172.976, Z 20.598, A 104.776, B 0, C 180},{X 28.178, Y 173.49, Z 19.884, A 104.791, B 0, C 180} C_DIS
LIN {X 28.226, Y 173.586, Z 19.727, A 104.794, B 0, C 180} C_DIS
LIN {X 28.264, Y 173.663, Z 19.557, A 104.796, B 0, C 180} C_DIS
LIN {X 28.291, Y 173.719, Z 19.377, A 104.798, B 0, C 180} C_DIS
LIN {X 28.308, Y 173.752, Z 19.19, A 104.799, B 0, C 180} C_DIS
LIN {X 28.313, Y 173.763, Z 19, A 104.799, B 0, C 180} C_DIS
LIN {X 36.866, Y 177.763, Z 19.012, A 104.923, B 0, C 180} C_DIS
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So I guess I have to calibrate all my tools on KUKA or is there any other way through Sprutcam?