Z-Up Transition Fix for Multi-Line Robot Drawing

    • New

    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 works 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 in the drawing. This causes misalignment and unexpected sketch outputs. 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.

    I understand that this might be due to an improper option selected in RoboDK. Is there a feature in RoboDK that allows drawing without requiring extensive programming?

    Alternatively, does anyone know an indirect method or workaround to address this issue? 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 greatly appreciated.

    Here’s a link to the files related to this project:
    Google Drive Link

    • New

    First, what does the G-Code output look like? If the G-Code contained Z-moves, then RDK would translate those to the robot. If the G-Code has that buried in some kind of auxiliary Pen Down/Pen Up option switch, then the basic G-Code conversion in RDK probably doesn't know what to do with that and ignores it. You may have to create some kind of translation script, or have the robot switch TCPs when the Pup/Pdn commands are encountered.

    • New

    Hi SkyeFire,

    I want to clarify first that my setup doesn't include any pen-down/pen-up mechanism, as the pen is fixed to the end effector. Therefore, I don’t need specific G-code instructions for such a mechanism.

    However, I’ve realized that the issue arises from the G-code itself. In my current workflow, I use Inkscape to generate the G-code, but it doesn’t include Z-axis transitions for lifting the tool during line transitions. This results in the robot failing to lift the tool between paths, causing unintended sketches.

    I’ve been trying to find a solution to include Z-axis movements for line transitions, but I haven't been able to achieve this with Inkscape so far. I'm now exploring alternative methods.

    Could you suggest:

    1. Any RoboDK feature or workflow to convert an image into a robot path directly for drawing?
    2. Any G-code generation plugin or tool that supports image-to-G-code conversion with Z-axis transitions handled properly?

    Thanks for your time and help! Any guidance would be much appreciated.

    • New
    Quote from hermann

    Is it that difficult to show an example code generated from inkscape?


    Apologies for not mentioning this earlier. I’ve attached the relevant files in the Google Drive link shared previously:
    Google Drive Link

    The folder contains both the .nc G-code file and the original Inkscape file. In the generated G-code, the Z-axis value always remains 0.000.

    Looking forward to your suggestions and guidance. Thank you!

    • New

    Running the RDK file, the robot appears to stay at the cutting Z height at all times, except during the initial start and the end of the path.

    However, the NC file does have Z0 values everywhere, which is odd. Z0 appears to be correct for the cutting actions, but line 15 of the file has a comment of (penetrate) which I would expect to find as the robot is making the first vertical penetration of the workpiece. Instead, Line 12 has a simple G0 Z 0.0. Likewise, line 83 has the same command. I would normally expect both of those lines to be "clearance" moves, to put the tool at a Z height guaranteed to not hit anything when the next XY coordinates are moved to.

    OTOH, it seems as if the first few moves in your RDK Point program are not being translated into the NC file. Line 15 appears to equate to the point MoveL5 in the RDK program, but the NC file appears to leave out most of Moves 1-4.

    This seems to be a setting or programming issue in RDK, but I can't really say much more, as I don't have any experience with RDK's G-Code generator.

    • New

    First of all, sorry for the late reply.

    Quote from SkyeFire

    This seems to be a setting or programming issue in RDK, but I can't really say much more, as I don't have any experience with RDK's G-Code generator.

    Yes, you’ve understood my issue correctly. However, the problem isn’t with RDK. The Z-axis transitions, like Z0 to Z1, are not being generated by the Inkscape extension I’m using.

    Quote from hermann

    Looks like you have wrong settings in g-code extension.

    Your file seems to align with what SkyeFire suggested, which is fine. However, I don’t have any options in the Inkscape G-code extension to automatically set the line transitions. This means I have to manually edit the points after G-code generation for the drawing, which is not convenient for me.

    I think both are suggesting that I use Z0 for drawing paths and Z1 for non-drawing paths. However, I am unable to generate this automatically using the Inkscape extension for G-code generation. I couldn’t find any options in the extension to achieve this.

    I need an automated and unified solution for any image to gcode—manually editing the generated G-code is not feasible for me. Most extensions available in Inkscape seem tailored for laser-specific operations with commands like laser on/off or up/down movements. I want to replace these specific codes with normal G-code commands, treating them as points rather than commands. Unfortunately, the available Inkscape extensions and RoboDK do not seem to provide an option to directly generate paths from images.

    I have the following questions:

    1. Is there any way in RoboDK to convert an image into a drawing path?
    2. Are there any specific Inkscape extensions available for generating G-code for drawing paths?
    • New
    Quote from MANIKANDAN_S

    ..

    Your file seems to align with what SkyeFire suggested, which is fine. However, I don’t have any options in the Inkscape G-code extension to automatically set the line transitions. This means I have to manually edit the points after G-code generation for the drawing, which is not convenient for me...

    Did you try to use my code with robodk?

    This code came from inkscape with fresh installed gcode extension without any changes. Haven't changed anything in the extension also didn't change anything in the generated code.

    • New

    I tested the setup with RoboDK, and it worked perfectly. Initially, I thought the G-code had been manually edited by you. However, after rechecking and recreating the file based on your instructions, I found that you were correct—the issue was with the Z Surface and Z Depth settings in the Inkscape orientation settings. Thank you to both SkyeFire and hermann for your help in identifying and resolving this mistake !!!

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