thank you Panic mode.
the tool data accuracy is less than 1.5mm.
and I think the base data is like that..
thank you Panic mode.
the tool data accuracy is less than 1.5mm.
and I think the base data is like that..
Hi all ~! it's weekend, sorry for asking you guys.
I have a very difficult (or funny) problem.
I think this problem happened before and happens today to me.
The problem is the origins moves as the job zone (or area of being cut) changes.
let me say more in detail,
please see the 1st photo. that's what I want to cut like.
and the 2nd photo is that I cut today.
I used SPRUTCAM of indexed 5 axis and the actual result is the 2nd.
( basically the robot ( kr125) is calibrated and I input the data of tool and base.)
as I said in the beginning, I experienced similar one before.
Please see the 3rd Pic.
in the picture, there are 3 dotted boxes, the boxes mean different job area (because I need to change the tool and separate tool paths)
as you see, the boxes have different origins. (this was done by ABB robot)
Now I think these problems came from the same cause..
Now,,,,, what do you think?, anybody knows the cause?
first, I suspected the robot (Kuka) being crazy.
but as you see in 3rd picture, ABB robot made the same problems.
so I thought the converting program (IRBCAM) was the real cause.
However, Today, I used SPRUTCAM, ,,,,, got same problems...
the cause may come from very easy and basic one..
I don't know much about robot system and program. ( I'm learning by myself )
So if you have anythings that I need to check, please speak out~!
and I attached the programs that I cut today.
anyone who is very good at robot program could check them also.
thank you!!!
Phil
Thank you for the information!!
Now I clearly understood " the meaning of Overhang".
Two thumbs Up!!!
Thank you so much.
Thanks a lot vvelikov.
But I wonder many following questions.. (sorry)
Do the tool data in tool lib. have something to do with the tool data in machine dimension?
if the tools are relative then, SPRUTCAM calibrates different tools comparing with standard tool?
Or, Do I have to generate each robot program for each tool?
and the final one.
how can I set the user frame (or base), I can not find it in my sprutcam..
Too many questions make me seen so rude.
Anyway, thank you so much!!
Phil
Hi~!
I think I did,, I used KUKA post and simulated with the correct 3D scheme ; kr125/90L.
I checked the distances between joints are correct and entered the actual tool data that achieved from KRC1 as well.
Is there any specific way to calibrate the robot in Sprutcam?
And about the code, I deleted them
but when it moves abnormally, the codes cause some problem.
"too fast speed at axis 4"
I think I'm lost...
Hi~
Yes, I used Sprutcam post processor and I asked this to Sprutcam but no answer returned.
Do you think this is kind of Post processor problem?
In fact, When I use IRBCAM, I have no error like this..
Hello every one.
I just started studying SPRUTCAM robot and generated some code to run a test.
and I got several problems.
that is kind of grammar..
I got following src codes.
-----------------------------------------------------
DEF CAMTE6TH()
;FOLD INI;%{PE}%V2.2.2,%MKUKATPBASIS,%CINIT,%VCOMMON,%P
;FOLD BAS INI;%{PE}%V2.2.2,%MKUKATPBASIS,%CINIT,%VINIT,%P
INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )
INTERRUPT ON 3
BAS (#INITMOV,0 )
;ENDFOLD
;FOLD A20 INI;%{E}%V2.2.2,%MKUKATPA20,%CINIT,%VINIT,%P
IF ARC20==TRUE THEN
A20 (ARC_INI )
INTERRUPT DECL 6 WHEN $CYCFLAG[3]==FALSE DO A20 (TECH_STOP2 )
ENDIF
;ENDFOLD
;FOLD A10 INI;%{E}%V2.2.2,%MKUKATPARC,%CINIT,%VINIT,%P
IF A10_OPTION==#ACTIVE THEN
INTERRUPT DECL 4 WHEN $CYCFLAG[2]==FALSE DO A10 (#APPL_ERROR )
INTERRUPT DECL 7 WHEN A_ARC_SWI==#ACTIVE DO A10 (#ARC_SEAM )
INTERRUPT DECL 5 WHEN A_FLY_ARC==TRUE DO A10 (#HPU_ARC )
INTERRUPT ON 5
A10_INI ( )
ENDIF
;ENDFOLD
;FOLD GRIPPER INI;%{E}%V2.2.2,%MKUKATPGRIPPER,%CINIT,%VINIT,%P
USER_GRP (0,DUMMY,DUMMY,GDEFAULT )
;ENDFOLD
;FOLD SPOT INI;%{E}%V.2.2,%MKUKATPSPOT,%CINIT,%VINIT,%P
USERSPOT (#INIT )
;ENDFOLD
;FOLD TOUCHSENSE INI;%{E}%V2.2.2,%MKUKATPTS,%CINIT,%VINIT,%P
IF H70_OPTION THEN
INTERRUPT DECL 15 WHEN $MEAS_PULSE[TOUCH_I[TOUCH_ACTIVE].IN_NR] DO H70 (6,CD0 )
INTERRUPT DECL 16 WHEN $ZERO_MOVE DO H70 (7,CD0 )
INTERRUPT DECL 17 WHEN $TECHPAR_C[FG_TOUCH,8]>0.5 DO H70 (8,CD0 )
H70 (1,CD0 )
ENDIF
;ENDFOLD
;FOLD USER INI;%{P}%V2.2.2,%MKUKATPUSER,%CINIT,%VINIT,%P
;Make your modifications here
;ENDFOLD
;ENDFOLD
;FOLD PTP HOME Vel= 100 % DEFAULT;%{PE}%V2.2.2,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:HOME, 3:, 5:100, 7:DEFAULT
$H_POS=XHOME
PDAT_ACT=PDEFAULT
BAS (#PTP_DAT )
FDAT_ACT=FHOME
BAS (#FRAMES )
BAS (#VEL_PTP,100 )
;ENDFOLD
BAS (#INITMOV,0)
$BASE = $WORLD
$TOOL=TOOL_DATA[1]
$VEL.CP=0.167
$VEL.ORI1=15
$VEL.ORI2=15
$VEL.AXIS[1]=10
$VEL.AXIS[2]=10
$VEL.AXIS[3]=10
$VEL.AXIS[4]=10
$VEL.AXIS[5]=10
$VEL.AXIS[6]=10
PTP {A1 -3.056, A2 -73.302, A3 146.464, A4 -179.761, A5 73.162, A6 179.931, E1 0, E2 0, E3 0, E4 0, E5 0, E6 0}
LIN {X 1716.714, Y 91.662, Z 272, A -176.715, B 0, C 180} C_DIS
LIN {X 1716.714, Y 91.662, Z 204.667, A -176.715, B 0, C 180} C_DIS
$VEL.CP=0.008
LIN {X 1707.976, Y 82.776, Z 204.667, A -176.996, B 0, C -180} C_DIS
LIN {X 1708.039, Y 75.575, Z 204.667, A -177.238, B 0, C -180} C_DIS
LIN {X 1724.02, Y 91.677, Z 204.667, A -176.727, B 0, C 180} C_DIS
LIN {X 1732.006, Y 91.693, Z 204.667, A -176.741, B 0, C -180} C_DIS
LIN {X 1708.074, Y 67.722, Z 204.667, A -177.501, B 0, C -180} C_DIS
LIN {X 1708.113, Y 58.785, Z 204.667, A -177.8, B 0, C -180} C_DIS
.....
---------------------------------------------------------
when I entered the codes into robot controller, it showed me grammar errors, total 6 grammar errors
(they are regarding velocity of each axis)
so I deleted upper red lines then I managed to input the codes into KRC1.
but when I tried to run it. it just executed the first PTP and it turned 4th axis rapidly and it gave me "commend velocity 4th axis".
In fact, I don't know why 4th axis start to move ( because in the SPRUTCAM, robot moves cutting lines without changing position of 4th axis)
anyway, beside the problem of changing 4th axis, I want to know why the codes caused "grammar error"
Could you guys please tell me, "what should I do to keep the velocity commends (6 lines) and get no error???"
If any body is here that is good at KRC1 controller, Please help me out!!
thanks in advance.
Phil
Hi everyone?!
I'm just rookie for robot machining. I don't have enough experience and knowledge about robot machining.
anyway. these days, I run tests for my old robot, KR 125 which controlled by KRC1.
I found that the controller is not suitable for machining surfaces with variously composed tool paths.
Especially, it' not good at correcting z values when the TCP turns its direction into the opposite side.
(ex X to -X or -X to X)
and I saw many robot machining video clips, it shows several patterns.
they are..
- One way machining.
- lifting each tool path end
- zigzag machining
- Set the work origin XY to XZ ( because XY surface machining quality is not good)
- Just set the robot as 4 axis machining ( set the stock on turning table vertically and the spindle is set Y direction )
Here I just wonder,,,
the all things that I mentioned are caused by that weakness??
(the robot's X direction movement is not controllable?)
and do you have any good solutions for surface machining? or robot setting??
I just want to know how to get over this KRC1's weak point(?? or Should I accept and admit this?)
and One more question!
with the robot (or Controller) what do you mainly make or do??.
(I'm using SolidCAM and Powermill)
Have a nice day!
I'm waiting for your good comments.