RoboDK station

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

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  Polish Path 1 Settings.

2.Click on Select 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 select Switch sense.

In this case, the path needs to be redone:

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

2.Select Reset selection.

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

4.Select the Auto select all tool on the top left-hand corner of your screen.

5.Select Done.

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

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 on Polish Path 1 Settings ➔ Add.

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

In this menu you can also activate the Set Rounding option. 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 the Set Rounding checkbox 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 on  Polish ➔ Select Post Processor. In this example you can use a KRC4 controller.

2.Select OK.

3.Right click on  Polish ➔  Generate robot program or press F6. A text editor will appear with the SRC file you need to send to the robot.