[H.tanino]

The height of the machining path in Fusion and the path in RoboDK do not match. I imported the .apt file with the RoboDK plugin for Fusion, but the drill depth, hole avoidance, and machining approach height are different. What could be the cause of this? (Attached image: drill)

Candid drill cycles are being output in Fusion, various drill settings are incorrect, the machining origin position, etc. are possible reasons, but what do you think?

For flat surface machining using an end mill, the exact path was imported into RoboDK. (Attached image: mill)

[Albert]

Can you share your project in Fusion 360 and RoboDK project?

[H.tanino]

I have attached the data, so please check it.

[Albert]

I noticed that the default post processor for Autodesk Fusion 360 using APT format is not correct (this is the one we use with RoboDK by default when exporting a robot machining project). 

The GOTO command within a DRILL CYCLE should be the point where we start drilling, not the point at its depth. For example, I understand you want to drill the first 2 holes from the Z value of 40 mm to 25 mm (15 mm depth). Therefore, the Z coordinate for the GOTO commands after the CYCLE should be 40 instead of 25:

Code:

RAPID
GOTO/-15., 15., 56.
CYCLE/DRILL, 15., MMPM, 50., 46., RAPTO, 1.
FEDRAT/50., MMPM
GOTO/-15., 15., 25.  <-- The 25 here should be 40
FEDRAT/50., MMPM
GOTO/15., 15., 25.
CYCLE/OFF

If you use the CAMPlete post processor you should the correct output:

Code:

RAPID
GOTO/-15., 15., 56.
CYCLE/DRILL, FEDTO, 15., MMPM, 50., CLEAR, 46., RTRCTO, 6., RETURN, 6., RAPTO, 5.
GOTO/-15., 15., 40.
GOTO/15., 15., 40.
CYCLE/OFF
RAPID
GOTO/15., 15., 56.

For the time being, when you use the drilling cycles, it may be better if you manually post your robot machining project using the CAMPlete post processor. We'll try to create our own post processor with this issue fixed.

[Albert]

I believe I found the fix. To solve this issue you should place the attached apt_RoboDK.cps file here:
C:/RoboDK/Other/Plugin-Fusion360/v39/apt_RoboDK.cps
You can replace the file that is already there.

Let me know if you have any issues with this version.

A bit more information on the solution: I modified Autodesk Fusion's official APT post processor called "Common APT ISO 4343 post processor" to account for this offset by modifying the onCyclePoint function.

Code:

function onCyclePoint(x, y, z) {
  writeln("FEDRAT/" + mainFormat.format(cycle.feedrate) + ", " + feedUnit);
  // Original:
  // writeGOTO(x, y, z, currentSection.workPlane.forward.x, currentSection.workPlane.forward.y, currentSection.workPlane.forward.z);
  xyz = new Vector(x, y, z);
  delta = Vector.product(currentSection.workPlane.forward, cycle.depth);
  xyzgt = Vector.sum(xyz, delta);
  writeGOTO(xyzgt.x, xyzgt.y, xyzgt.z, currentSection.workPlane.forward.x, currentSection.workPlane.forward.y, currentSection.workPlane.forward.z);
}

[H.tanino]

Thank you Albert.
The method you provided solved the problem.
I appreciate your quick response.

[Albert]

Wonderful, thank you for your feedback. We'll use this cps post processor file as the default post for our Autodesk Fusion 360 plugin with the next update of RoboDK.