Setup:
Machining program generated in RhinoCAM 2024 / APT file imported via RoboDK plugin
KUKA KR120
I am trying to synchronize my RoboDK station with my physical cell setup. I am using an automated TCP teaching system on my robot, and want to create an approximated TCP in RoboDK for simulation. KUKA robots use X+ as the tool working direction, but I have noticed the machining project tool in RDK uses Z+. I would like to update my RDK machining project to use X+ as the toolpath normal. How can I do this?
Ok, if there isn't a way to do this in RoboDK I can make adjustments to the auto-TCP routine to compensate for it. The method of the auto-TCP routine does not output data like a four point teach, so I don't have that, and I would rather not have to manually input any tool data in RoboDK anyway. I have already configured the post processor to not define tool data, so this is the last step to getting this working. This is a KUKA-specific issue, I know ABB etc use Z+ for tool. It would be nice to have the option to switch between X and Z in the CAM options page. I'm new to RoboDK, but have used this kind of feature in other software.
I do not know about the auto-tcp routine you speak of.
I do however know every dimension of the tool I insert -> from there I can measure the length of the cutting bit and setting the correct tcp (where I only change the Z value as orientation is already set from previous usage). It is dirt(y, but) cheap.
I have not yet bothered putting effort in to automate this process for the robot to compensate automatically (for length that is, as diameter is already in the program).
I see no difference in how any of the robots I have made programs for differ in this regard neither abb nor kukas.
The only robot I have that set this "automatically tcp" is the yaskawa welder robot. But that only means it cuts the wire to the a set length for repeatability and aligns the robot (tcp).
