Weird but I am struggling with flipping the orientation. I rotate the frame some 15° to turn the logo up form the "table" a bit.
The Machining project is able to solve successfully.
I rotate the logo upwards 90° and compensate the TOOL also 90° ... So the logo is at the correct position but rotating the tool is half way there - working the logo form the top side only. I need it to be behind the logo.
I keep the logo upwards 90° and want the robot to be completely behind the logo and keep rotating the TOOL.
155° is the maximum... more than that and its not able to solve... "The robot cannot reach all targets in the path"
So I lifted up the logo and its now able to go to 160° But the robot is doing its "dance" a little weird. Something doesn't quite feel right.
My best bet at the moment is 90 degrees for the logo and 90 degrees for the tool. Then it behaves like a 3 axis machine - No weird movements, no drama. I have a 6 axis Kuka so it should handle a lot of situations.
Questions:
When is the Options > CAM > Invert Machine Tool Axis setting going to take effect? I found no difference.
Can I change the arc segment size that comes from the DXF2Gcode somehow? The robot movement on the arcs is really slow and jerky when running the physical robot from RoboDK (Run on Robot) And when the KUKA KRL code is generated its like a thousand rows and the speed is slow because of the very small sections I guess. I do not need the precision and would gladly exchange it for speed.
EDIT: I think I get it now. I guess its a singularities thing. Or a 6 axis robot just cannot draw on a straight wall. The software wants the tool to be perpendicular to the wall and that makes the body of the robot twist in weird ways. This actually would not be necessary for the task but the robot tries to do it anyway. It wants to do it like a milling operation and I want it to do it like holding a pencil. I had mild success when trying different starting positions for the joints but its still weird.
The Machining project is able to solve successfully.
I rotate the logo upwards 90° and compensate the TOOL also 90° ... So the logo is at the correct position but rotating the tool is half way there - working the logo form the top side only. I need it to be behind the logo.
I keep the logo upwards 90° and want the robot to be completely behind the logo and keep rotating the TOOL.
155° is the maximum... more than that and its not able to solve... "The robot cannot reach all targets in the path"
So I lifted up the logo and its now able to go to 160° But the robot is doing its "dance" a little weird. Something doesn't quite feel right.
My best bet at the moment is 90 degrees for the logo and 90 degrees for the tool. Then it behaves like a 3 axis machine - No weird movements, no drama. I have a 6 axis Kuka so it should handle a lot of situations.
Questions:
When is the Options > CAM > Invert Machine Tool Axis setting going to take effect? I found no difference.
Can I change the arc segment size that comes from the DXF2Gcode somehow? The robot movement on the arcs is really slow and jerky when running the physical robot from RoboDK (Run on Robot) And when the KUKA KRL code is generated its like a thousand rows and the speed is slow because of the very small sections I guess. I do not need the precision and would gladly exchange it for speed.
EDIT: I think I get it now. I guess its a singularities thing. Or a 6 axis robot just cannot draw on a straight wall. The software wants the tool to be perpendicular to the wall and that makes the body of the robot twist in weird ways. This actually would not be necessary for the task but the robot tries to do it anyway. It wants to do it like a milling operation and I want it to do it like holding a pencil. I had mild success when trying different starting positions for the joints but its still weird.