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Hi all,

I've been defining a program where a Kuka robot will mill a material in 2.5D.

Ideally, I would like to define three velocities: Travel movement (not milling), Milling velocity, and Offset velocity (when the robot moves in the Z axis going away from the material.

Two points here:

1. When using the Tool Axis Offset module, the Offset vel. defines the milling velocity and vice-versa. Is it a software issue?

2. I understand that if it works well, I can define Milling vel and Offset vel. Is there a way to define a third velocity (Travel vel.)?

I am attaching a pic where I visually describe the issue and question.

Thanks in advance,

Hello all,

I have been reviewing similar topics but I did not find the same exact point.

I am doing milling tasks.
A solid has been sliced into layers, each layer contains some circles movements (circle exploded intro points)
Tool axis offset sets an offset in each circle.
My objective is to only include tool offset in between layers or branches.

Is it possible? Some ideas?

Thank you in advance,

Some screenshots.

Best regards,

Hello Johannes!

Thank you so much for your reply.

The infinite rotation would be a great solution but I have just purchased the robot with the default configuration.

Regarding the continuous incrementing A6, I guess that there is something that I am missing out on.
It is weird because if I set a -179 o -187 plane rotation for the last linear movement, it works ok. But it's when I set -180º when the warning appears. Does it make sense?
I have tried not to accumulate positive rotation in A6 to be inside the range.

Another solution has been to change the command order.

I would like to know whether there is some bug or there is something that I am not understanding.

I really appreciate any help you can provide.

Hello all,

I wanted to take this message to share some stuff that I was working on.
I am validating that a Kuka KR210 R3100 ultra will be able to reach the overall perimeter of a worktable to cut material through a spindle + saw blade.

The point is that I almost checked that the robot is able to achieve the farest points and not exceed the angle ranges.

Even this, the last linear movement is not correct because it exceeds the A6 angle range.

I was wondering how to optimize movements. I am pretty sure that there is a simple thing. I have not too much experience on this.

Thank you in advance 

Hello,

I was exactly what you mentioned.

That was my fault, it was about data structure.
I could play with the Weave command to alternate wait command and linear movements and then insert a longer wait command in between weaves commands.

Thank your your response!

Best regards,

I am using merge to put some order between several commands.
I just want to add some wait commands in between. The result is that the wait command always goes up to the top of the list, being the first thing to execute by the robot.
I have jest confirmed that I am running with the last PRC version.

Is there someone experimenting the same issue?

Thanks in advanced,