Posts by vvelikov

    Hi guys,
    i have a question, just not sure how to deal with this:

    I am doing milling on my robot - KRC2 v5.2. The programs usually are big - up to 70 000 - 100 000 lines, so i am dividing the code into smaller files - up to 2200 lines each.
    That is working but as there is a limitation on my KRC - cannot load more than for example 25 files (dat and src) - so i am doing it part by part - deleting the old ones and copying the new files. It works, but is a bit of time consuming ;)

    So, my question is - what is the proper way to feed those files. Usually i am doing a base program, which 'calls' all the files - is there a way to use a USB stick for example? I've been told that the files for execution needs to be based into R1 folder. But the space is limited there :(. The KRC cabinet have two USB ports, CD, floppy :) and also a network card. Not sure about the software side but can check if needed...
    Any advise will be appreciated!


    I would think that it is connected with the feedrate (what SkyeFire suggested) - why don't you try on lower feed and the same RPM? Or you did? Can you make a video?
    It also depends what is the length of the tool? May be you can try with a shorter tool?
    I have KR150 -2 with 12KW HSD and it is flawless - even with a hand made postprocessor :) - the end result is what i am aiming usually

    All this speed data is given by the software - there are different speeds for transport moves, plunge and the milling itself
    the VEL_AXIS (all the header of the file) is given by the postprocessor - the person who make it put this in the first lines for the beginning of the file.
    I can easily remove them.
    What worries me is the behavior of the robot when working in multiaxis - change of the orientation by 180 degrees etc.
    Can i limit this ?
    What should be the EULER convention method for KUka? At the moment it is ZYX - is that correct?

    Thanks again!

    it is about 5000mm/min and you can see it here:

    i am not sure if this is correct but this is the only option i have.

    there's another issue i forgot to mention: the robot is speeding up it's movement when loading new file - i am separating the whole code in pieces 200KB each because of the limitation of the Kuka software... so - when the new file is loaded, the robot is speeding up next move - usually until the finish of the pass... after that all is ok.
    Anyone with a suggestion how this can be avoided? At the moment i am milling foam only but i am planning to mill wood as well as aluminium.
    Thanks again!

    Thanks guys, sorry for the delay with my answer... still experimenting :)
    SkyeFire: I checked these simulators, but i realize that in terms to have a proper and mistake free code i need a simulator+manipulator/editor of the path and the final code... which is impossible for me at the moment - will need to gather some money and will go for one of the commercial versions.
    here is the video showing the strange rotating of the A5 axis:…hd873/20130402_214711.mp4

    may be this rotation is from the orientation of the X and Y of the base... i will test tomorrow this - i am doing this now(see the attached image) - tomorrow will do the finishing pass

    abdel.halim: yes, i am getting the tool path from a CAM system, not sure if everything is going out correct from there... i am a designer and this is my first touch to such kind of systems :) but it is VERY exciting!
    Sadly, there is very little information in advance - when someone is looking to buy such system - it is really hard to have the info what is the recommended/required pipeline for robotic system for milling.

    As soon i get my system perfectly (as far is possible) running i will make an explanation how all this works and how it is possible to be done with not so much money - for smal workshops or designer studios system like this one is perfect for prototyping and small series of products.
    Thanks everyone for the time! Will post more updates soon :) :merci:

    Another question, from my today's experience: is there a way to choose/change the angle/orientation of the tool while robot is milling? Or to make reposition - but not back to the software - to make these changes in real time? Or everything should be done in advance? For example - today i notice that the robot is rotating the A5 by 180 degree on the end of the toolpath - the toolpath is multiaxis. I would like to avoid such moves - it is not necessary as the tool is staying almost vertical... i can post video if needed. Thanks guys! You were really helpful!

    yes, i corrected the tool orientation by -90 on B and now it is working fine.
    I was just thinking that all the A, B, and C should be 0 by default and tool orientation - vertical.
    What i notice is that the load data of the tool is wrong - it was 175kg and the center of mass was wrong as well.
    i did it as correct i can, not sure about the importance of the tool load information?
    As i am milling 3-dimencional sculptural pieces - can someone suggest the best way for positioning the piece manually - i don't have external axis, so i have to rotate the object by hand...

    the only thing now is the simulation - don't have an idea how to avoid buying super expensive software for this purpose :(

    Hello everyone,
    finally i get the postprocessor to work, but now i have another problem, hope someone can help me as i don't know what is happening :(
    The robot is moving the end of the tool following the toolpath, provided by the postprocessor, the problem is that the tool is oriented horizontally instead of vertically.
    here is a sample code - the start of the src file:

    When i change the B to 90 here: LIN {X 362.87,Y 465.41,Z -19.83,A 0,B 90,C 0,E1 0,E2 0,E3 0,E4 0,E5 0,E6 0} C_DIS - the tool is vertical and the program runs fine and cuts the model properly.
    But that means that i need to change manually the B rotation. That's fine when working in 3 axis mode, but not possible for multiaxis.

    I checked the tool orientation and it says that the tool direction is vertical. I did the XYZ and world 6d tool calibration, but the result is the same.

    Any ideas what may be wrong? Something changed into the robot? Can i change the B rotation permanently with the tool? Or any other idea?
    Thanks in advance!

    I am attaching an illustration of the tool position for better understanding :

    Hi SkyeFire, and thank you for the time :)
    finally i have some success with this postprocessor - the robot started moving ;)
    I think the problem is with the correct base and tool
    Tha tool is fine, but when i checke the base it was something like null, not base N1 which was supposed to. when i changed to base 1 it started to execute the code.
    Today i will play a bit more, unfortunately, i can use the roboto only out of the working hours, but anyway it is very exciting :)

    Thanks, will update the thread when i have some progress

    Thank you SkyeFire, where should i look for these?
    Also, all this code is coming from the postprocessor - how can i limit the axis 5 singularity?
    I am not sure if i need to do something specific for the robot base information?
    I did the tool calibration (4 point) and base calibration (XYZ), may be i need to do something else as a calibration?
    Thanks again!