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Topics - alvarogarciasab

#1
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,
#2
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,
#3
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 
#4
Support / WAIT INPUT
May 20, 2022, 02:01:58 PM
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,