Posts by MIKERHODES

    This is absolutely the case! I was pointing the robot to the start point by connecting to the robot and copying these values. The job ran perfectly but the job was not following the correct base frame. So the workpiece was not completely level with the table, this then made the cut not perfectly flat. We hand finished it with a grinder. THANKY YOU! I am new to RoboDK and I have talked with Albert Nubiola MANY times, I just don't was to keep bugging the poor guy, he is not here to teach everyone, he is running a company. I LOVE ROBODK though. Best purchase of software we have made so far. Worth EVERY PENNY.

    Here is an example of a milling project where I had to recess back a panel in a large piece of granite. I did the 3 point method and the TCP ran perfectly parallel to the surface, but I am not sure how to incorporate my tool tcp and my base frame in the code. I am using a Professional version of RoboDK I purchased.







    &ACCESS RVP
    &REL 1
    &PARAM TEMPLATE = C:\KRC\Roboter\Template\vorgabe
    &PARAM EDITMASK = *
    DEF RECESSED_PAN_1_T ( )

    ; GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )
    ; INTERRUPT ON 3

    ;FOLD Initialise and set default speed
    BAS (#INITMOV,0)
    BAS (#VEL_PTP,100)
    BAS (#ACC_PTP,20)
    $VEL.CP=0.2
    BAS (#TOOL,0)
    BAS (#BASE,0)
    ;ENDFOLD

    ;;FOLD STARTPOS
    ;$BWDSTART = FALSE
    ;PDAT_ACT = PDEFAULT
    ;BAS(#PTP_DAT)
    ;FDAT_ACT = {TOOL_NO 0,BASE_NO 0,IPO_FRAME #BASE}
    ;BAS(#FRAMES)
    ;;ENDFOLD

    $ADVANCE = 5

    ;FOLD ---- Quickly skip BCO ----
    ; PTP $AXIS_ACT
    ;ENDFOLD

    ;FOLD ---- GO HOME ----
    ; PTP {A1 0.000, A2 -90.000, A3 90.000, A4 0.000, A5 0.000, A6 0.000, E1 0, E2 0, E3 0, E4 0, E5 0, E6 0}
    ;ENDFOLD

    ; Program generated by RoboDK v5.5.3 for KUKA KR 120 R2700 HA on 05/07/2023 16:44:03
    ; Using nominal kinematics.
    $APO.CPTP = 1.000
    $APO.CDIS = 1.000
    Wait for StrClear($LOOP_MSG[])
    $LOOP_CONT = TRUE

    Wait for StrClear($LOOP_MSG[])
    $LOOP_CONT = TRUE

    SPINDLE_FWD(4400)
    $VEL.CP = 1.00000
    ; ---- Setting reference (Base) ----
    ; BASE_DATA[2] = {FRAME: X -1.905,Y 1918.810,Z 835.684,A -0.000,B -10.001,C -0.001}
    $BASE = {FRAME: X -1.905,Y 1918.810,Z 835.684,A -0.000,B -10.001,C -0.001}
    ; $BASE = BASE_DATA[2]
    ; --------------------------
    ; ---- Setting tool (TCP) ----
    $TOOL = {FRAME: X -24.372,Y 0.610,Z 511.476,A 180.000,B -30.000,C 0.000}
    ; --------------------------
    ; Show TOOL TCP
    PTP {A1 -95.31830,A2 -95.12420,A3 105.88400,A4 14.69880,A5 50.60840,A6 -9.09005,E1 0.00000} C_PTP
    LIN {X -3.108,Y -122.042,Z 15.000,A 90.000,B 0.000,C -180.000,E1 0.00000} C_DIS
    $VEL.CP = 1.00000
    LIN {X -3.108,Y -122.042,Z 5.000,A 90.000,B 0.000,C -180.000,E1 0.00000} C_DIS
    $VEL.CP = 0.00556
    LIN {X -2.979,Y -122.006,Z 3.974,A 90.000,B 0.000,C -180.000,E1 0.00000} C_DIS
    LIN {X -2.603,Y -121.896,Z 3.016,A 90.000,B 0.000,C -180.000,E1 0.00000} C_DIS
    LIN {X -2.005,Y -121.714,Z 2.192,A 90.000,B 0.000,C -180.000,E1 0.00000} C_DIS
    LIN {X -1.229,Y -121.463,Z 1.555,A 90.000,B 0.000,C -180.000,E1 0.00000} C_DIS
    LIN {X -0.329,Y -121.153,Z 1.149,A 90.000,B 0.000,C -180.000,E1 0.00000} C_DIS
    LIN {X 0.631,Y -120.797,Z 1.041,A 90.000,B 0.000,C -180.000,E1 0.00000} C_DIS
    ; Splitting circular movement in 133 (instruction 41:MoveC 31)
    LIN {X 0.604,Y -120.727,Z 2.038,A 90.000,B 0.000,C -180.000,E1 0.00000} C_DIS
    LIN {X 0.568,Y -120.635,Z 3.033,A 90.000,B 0.000,C -180.000,E1 0.00000} C_DIS
    LIN {X 0.525,Y -120.522,Z 4.025,A 90.000,B 0.000,C -180.000,E1 0.00000} C_DIS
    LIN {X 0.474,Y -120.388,Z 5.014,A 90.000,B 0.000,C -180.000,E1 0.00000} C_DIS
    LIN {X 0.414,Y -120.233,Z 6.000,A 90.000,B 0.000,C 180.000,E1 0.00000} C_DIS
    LIN {X 0.347,Y -120.057,Z 6.981,A 90.000,B 0.000,C -180.000,E1 0.00000} C_DIS
    LIN {X 0.271,Y -119.860,Z 7.958,A 90.000,B 0.000,C 180.000,E1 0.00000} C_DIS
    LIN {X 0.187,Y -119.643,Z 8.930,A 90.000,B 0.000,C -180.000,E1 0.00000} C_DIS
    LIN {X 0.096,Y -119.404,Z 9.897,A 90.000,B 0.000,C -180.000,E1 0.00000} C_DIS
    LIN {X -0.003,Y -119.146,Z 10.857,A 90.000,B 0.000,C -180.000,E1 0.00000} C_DIS
    LIN {X -0.111,Y -118.866,Z 11.811,A 90.000,B 0.000,C -180.000,E1 0.00000} C_DIS
    LIN {X -0.226,Y -118.567,Z 12.758,A 90.000,B 0.000,C 180.000,E1 0.00000} C_DIS
    LIN {X -0.348,Y -118.247,Z 13.697,A 90.000,B 0.000,C -180.000,E1 0.00000} C_DIS
    LIN {X -0.479,Y -117.908,Z 14.628,A 90.000,B 0.000,C -180.000,E1 0.00000} C_DIS
    LIN {X -0.616,Y -117.549,Z 15.550,A 90.000,B 0.000,C -180.000,E1 0.00000} C_DIS
    LIN {X -0.762,Y -117.170,Z 16.464,A 90.000,B 0.000,C -180.000,E1 0.00000} C_DIS
    LIN {X -0.915,Y -116.771,Z 17.368,A 90.000,B 0.000,C -180.000,E1 0.00000} C_DIS
    LIN {X -1.075,Y -116.354,Z 18.262,A 90.000,B 0.000,C -180.000,E1 0.00000} C_DIS
    LIN {X -1.242,Y -115.918,Z 19.146,A 90.000,B 0.000,C 180.000,E1 0.00000} C_DIS
    LIN {X -1.417,Y -115.463,Z 20.018,A 90.000,B 0.000,C -180.000,E1 0.00000} C_DIS
    LIN {X -1.599,Y -114.989,Z 20.880,A 90.000,B 0.000,C -180.000,E1 0.00000} C_DIS
    LIN {X -1.788,Y -114.498,Z 21.729,A 90.000,B 0.000,C 180.000,E1 0.00000} C_DIS
    LIN {X -1.983,Y -113.988,Z 22.567,A 90.000,B 0.000,C -180.000,E1 0.00000} C_DIS

    Okay, I have followed the instructions correctly then. When I have that baseframe selected, the tcp of the robot perfectly follows the path I require.


    So when I start a milling program, I just have to make sure this base is selected? for some reason when I run my program the base frame changes to a ?


    Maybe I need to write something into my program to tell the robot to load that baseframe. Is this correct?


    Thank you for your response, I look forward to hearing from you!

    And I have a BSc Software Engineering degree?


    Much of robotic implementation is experience. I have worked with other professional engineers in this field and they have a confused disposition about them.


    SkyeFire nailed it.


    MR

    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

    Hello Engineers,


    Has anyone has issues with response from RoboDK's team? I have contacted them multiple time's for the past few weeks with zero support at all.


    I am very disappointed with their help after purchasing their software. Even their secretary Danielle seems disgruntled with the lack of their engineers communication.


    Mike Rhodes

    Thank you so much SkyeFire! Amazing encouragement from you on this subject. I also program 5 axis stone center from GMM made in Italy. You are absolutely correct in terms of the CNC rigidity. The gantry for the CNC machine itself is made of cast iron and weighs about 10000 lbs and driven by HA servos.


    Thank you again for the wise words. I will keep you posted on my progress.


    Mike

    Hi Everyone,


    New here and thank you for having me!


    Does anybody have and tips and tricks with this robot for milling?


    I have a Yaskawa driver coupled with this robot and a VEM 20hp spindle and PLC control of water and compressed air.


    Material is stone (sandstone/granite)


    KRC4


    I can post pictures of my rig later this week.


    MR

    Right now I am in the middle between RoboDK and Robotmaster for our Kuka KR-120 2700 KRC4 Extra HA for Milling stone. It is a very difficult choice. The RoboDK seem like a very passionate group of programmers that provide VERY in depth reading material and Videos from Jeremy. Robotmaster is almost completely locked down in terms of trial (though a reseller has offered us a 30 day monitored experience). Robotmaster is VERY expensive and has on-site training, but I like the fact I can go home and watch Jer's tutorials, which are amazing by the way. I get a VERY corporate feeling from the Robotmaster sales people. Not really a good one, but the features seem impressive.


    Jeremy,


    Change my mind. I need multi axis milling using a 7th axis table for milling sculptures and 3 axis for lettering. I have all of the tooling, just need the OLS program.


    I am using Mastercam 2022 Mill with the Multi-Axis add on package. We are leasing it for now.


    Mike Rhodes

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