[EningeerCHC]

I created a robot machining project and chose self-created NC code as the path for the KUKA robot. An excerpt of the code is below:

Code:

N1 G1 X-254.003 Y15.077 Z0.000 A0 B0 C37
N1 G1 X-254.002 Y45.112 Z0.000 A0 B0 C37
N1 G1 X-254.006 Y75.060 Z0.000 A0 B0 C37
N1 G1 X-254.006 Y105.181 Z0.000 A0 B0 C37
N1 G1 X-254.002 Y112.560 Z0.000 A0 B0 C37

ABC denotes Euler angles
In actual operation, the robot tool is able to move correctly along the set XYZ. However, the orientation is incorrect.

[EningeerCHC]

From browsing the forum, I know that Euler angles are not resolvable. Now I set IJK to {0,0,-1} to get the z direction of the tool I want, however, I can't seem to define the y direction of the tool.

[Albert]

If your goal is to create a robot machining project you can simply define the IJK vector which is the cutting axis. You can set it to 0,0,-1 for a 3-axis machining operation.

Once you import your NC file in RoboDK, with the robot machining settings you can later define the orientation of the tool around the Z axis, using the orientation of the preferred X axis.

[EningeerCHC]

If your goal is to create a robot machining project you can simply define the IJK vector which is the cutting axis. You can set it to 0,0,-1 for a 3-axis machining operation.

Once you import your NC file in RoboDK, with the robot machining settings you can later define the orientation of the tool around the Z axis, using the orientation of the preferred X axis.

Thanks. We edited a python script to run NC file successfully.

[Albert]

Great, thank you for your feedback.