Good day everyone,
I'm planning to use KUKA.CNC package to have complex trajectory planning.
my path involves lots of points with different orientations of TCP,so I suppose,we'll have to plan many points with different X,Y,Z, A,B,C values.I used NCviewer to have a look at how the G-code works,below is a demo that I run on NCviewer. to focus on the last line,the TCP was supposed to stay at X49 and turn its orientation at B30,but the plot shows that the TCP moves on X and Z directions to perform this rotation,it's a totally different behavior compared with traditional KRL languages,in traditional KRL lanagues,if we move only with A,B,C,the TCP only changes its orientation,TCP doesn't move on X,Y,Zdirections. I was wondering how KUKA.CNC will act on code like this.
G21 G91 G94
G00 Z20
G00 X0 Y0
G00 Z-19
M03 S14000
G01 Z-1 F250
G01 Y40 F800
G02 X10 Y10 R10
G01 X30
G03 X10 Y-10 R10
G01 Y-8.66
G03 Y-23.22 R19
G01 Y-8.12
G90
G01 X49
G01 B30
