Z-Up Transition Fix for Multi-Line Robot Drawing

    I am working on an industrial robot drawing project using RoboDK's Path Follow option. In this process, I first convert a single-line drawing image into G-code using Inkscape. The execution of this G-code functions correctly. However, I aim to extend this functionality to accommodate multi-line drawings or more complex images.

    Currently, I am facing an issue where the robot fails to move in the Z-up direction during transitions between lines of the drawing. This causes misalignment and unexpected sketch output. I suspect this issue originates from the G-code conversion process.

    I am using a FANUC LR Mate 200iD/4S robot equipped with a gripper to hold the sketching tool. I need to configure the robot to lift the tool (move in the Z-up direction) while transitioning to the next line, then accurately place it before continuing the drawing.

    Does anyone have an indirect method or workaround to address this issue? Alternatively, are there specific configurations or settings in the FANUC robot, RoboDK, Inkscape, or G-code editing that could help resolve this? Any guidance to achieve the desired behavior for multi-line sketches would be highly appreciated.

    TAC – Google Drive

    I wouldn't think the robot would fail to move up. I think its a failure to have a line of code that moves the robot up before transitions. If you have a segment of points that the robot is supposed to interpolate through, then when you stop on the last point get the current position with LPOS into a position register and then alter the Z of that register to a known safe Z value.

    For example,

    !get current position

    PR[1:CurrentPos] = LPOS

    !set Z position to safe Z height

    PR[1,3] = R[1: Safe Z Position]

    !move to position

    L PR[1] 500mm/s FINE

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