The next step is to verify if the order in which the path sections will be executed is correct by selectingPolish Path 1 Settings➔Update➔Simulate. In this example it is necessary to readjust the order.

Note :对于更复杂的项目,像这一个,它是recommended to uncheck the option “auto update” as it will slow down your setting process by recalculating the path at every single change. You can update it manually using theUpdatebutton.

You can see the little white lines coming out of the path on the canoe. Those are the normals to the surface. In this example all seem to have been correctly imported.

Follow these steps to set up the direction of the path:

1.Select波兰路径1设置。

2.Click onSelect curve.

Now you can see the order and direction in which the path segments are executed. If you want to change direction, right click on it, and selectSwitch sense.

Example Polishing - Image 15

In this case, the path needs to be redone:

1.Right click on an empty space of the station (i.e. blue background).

2.SelectReset selection.

3.Select the line you want to start with. Make sure that it is pointing in the right direction.

4.Select theAuto select alltool on the top left-hand corner of your screen.

5.SelectDone.

You can now simulate your station by double clicking onPolish Path 1 Settings➔Update➔Simulate.

Example Polishing - Image 17

Note : By default, you have an approach and a retract of 100 millimeters normal to the path. That means that the robot will come down and start its path. But you can also use an “Arc (Normal)” about 20 degrees with a radius of 1 meter by double clicking on

Polish Path 1 Settings ➔Type . That way the robot will follow this curve before engaging in the path. You can do the same to the retract movement.

You can also add normal movements of 200 millimeters to help avoid collision between the robot and the canoe by double clicking onPolish Path 1 Settings➔Add.

Example Polishing - Image 20

You can modify the approach and retract speed by selectingPolish Path 1 Settings➔Program Events➔Fast move speed (mm/s)and enter 200 millimeters.

In this menu you can also activate theSet Roundingoption. By default, every white line along of your path is a point that will be sent to your robot controller as points were the robot needs to stop. In a polishing or sanding application, this it is not the best behavior.

Activate theSet Roundingcheckbox to activate the continuous movement option in your controller. Depending on the robot brand the name of that option can be “rounding”, “constant movement” or “zone data”. In this example the value will be 0,5mm.

Tip : You can manage your output activations related to the path in this menu

Polish Path 1 Settings ➔Program Events (i.e. if you want to start the rotation of your polishing tool either during the path approach or at path start.).

Tip : You can modify the polishing speed by modifying the operation speed. Double clicking on

Polish Path 1 Settings ➔Operation speed (mm/s).

In this example, since we are using a KUKA robot you’ll obtain an SRC file when you generate the robot program. This file that can be read by a KUKA KRC controller.

Follow these steps to generate a robot program:

1.Right click onPolish➔Select Post Processor.In this example you can use a KRC4 controller.

2.SelectOK.

3.Right click onPolish➔Generate robot programor pressF6. A text editor will appear with the SRC file you need to send to the robot.

RoboDK station