Fusion360 toolpath wrong orientation.

[Kuka_User]

I am using fusion360 to create a milling toolpath and I want to simulate it in Kuka PRC. So far I've exported a toolpath from fusion360 using the (XML CLD for KUKA PRC/KUKAprcfusioncam) post-processor. I've set up WCS point on the bottom left corner of the object in Fusion360.

In KUKA PRC, I use the Fusion360 NC node to import the .xml file from fusion360. In the KUKA PRC node, I've entered the Base X,Y,Z value that corresponds with the actual physical workpiece.

I've successfully imported the XML file and a toolpath shows in KUKA PRC but the problem is that it doesn't correspond with the orientation of the actual physical workpiece. The purple square on the picture is roughly where the physical workpiece is, and what i've noticed is that the XY direction of the toolpath in Fusion360 is rotated 90 degrees relative to my actual workpiece and also the whole toolpath itself in a different position.

I guess the single KUKA 3-point Base XYZ coordinate doesn't give enough information to orient the toolpath in the correct way? I was hoping someone would be able to help me, I think I am just missing a step somewhere. Thanks!

Fusion toolpath:
https://imgur.com/3mvfYhB
Base Kuka PRC:
https://imgur.com/0TIvpVH
Kuka PRC toolpath:
https://imgur.com/CvXPWFj

[Johannes @ Robots in Architecture]

Hello,

Usually these things should fit perfectly, however I don't think that the base itself is to blame, because the plane only defines the robot's position in relation to the base coordinate system, i.e. the robot is moved, but the toolpath stays at its position in 3D space in Rhino. That being said, the 3-point calibration does give you a full 3D position and orientation via the XYZABC values.

So the problem is probably somewhere in the dataflow between Fusion and Rhino. If you export your 3D file from Fusion, does it then overlap with the toolpaths from Fusion when you load it into Rhino?

Best,
Johannes

[Kuka_User]

Hi Johannes,

Thank you for your quick reply, I appreciate it, it was very helpful.
I've made an edit to the position of my model in fusion360 and now when I load it Kuka PRC it loads in the correct location, so I've solved one problem. I was very hopeful that the toolpath would load in the correct position as well but it is slightly off on the XY plane and also it doesn't cut into the block in Z direction but rather on top of it. I've tried most settings now but still can't figure out what is exactly going on, would you happen to have an idea? Thanks!

Here is a picture of KUKA PRC:
https://imgur.com/a/VtrjNFb

Here is the picture of my Fusion360 setup:
https://imgur.com/bvZRBif

[Johannes @ Robots in Architecture]

Hello,

Can you please send me the Fusion file, ideally with the GH/Rhino files for comparison?
Then I can double-check it on my end. Ideally via eMail or if you don't mind it just attach it to the forum post.

Thanks,
Johannes

[Kuka_User]

Hi,

Great thanks!
I am sending you an email with the files.

[Johannes @ Robots in Architecture]

Hello,

If you look into the Fusion CAM setup, you notice that you set a custom work coordinate system.
So your G-code was exported in relation to the work coordinate system, while the geometry was exported in relation to the global coordinate system. My suggestion would be to use the global coordinate system for both and only set the base for the robot.

Best,
Johannes

[Kuka_User]

Hi Johannes,

Thank you so much for your help! That solved it!

Cheers!