[okin]

Hello,
i have a strange problem. i would like to mill a contour (rectangle 100x100mm) and the hole code is shifted by 1mm in x direction?
i generate the cam code with fusion360 2d-contour (plug in)
robot: kr210
KRC4
software 8.3.33

i hope someone can help me.
thank you very much.


&ACCESS RVP
&REL 1
&PARAM TEMPLATE = C:\KRC\Roboter\Template\vorgabe
&PARAM EDITMASK = *
DEF Unbenannt_1_T1 ( )


GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )
INTERRUPT ON 3

;FOLD Initialise and set default speed
BAS (#INITMOV,0)
BAS (#VEL_PTP,100)
BAS (#ACC_PTP,20)
$VEL.CP=0.2
BAS (#TOOL,0)
BAS (#BASE,0)
;ENDFOLD

;;FOLD STARTPOS
;$BWDSTART = FALSE
;PDAT_ACT = PDEFAULT
;BAS(#PTP_DAT)
;FDAT_ACT = {TOOL_NO 0,BASE_NO 0,IPO_FRAME #BASE}
;BAS(#FRAMES)
;;ENDFOLD

$ADVANCE = 5

;FOLD ---- Quickly skip BCO ----
; PTP $AXIS_ACT 
;ENDFOLD

;FOLD ---- GO HOME ----
; PTP {A1 0.000, A2 -90.000, A3 90.000, A4 0.000, A5 0.000, A6 0.000, E1 0, E2 0, E3 0, E4 0, E5 0, E6 0}
;ENDFOLD


; Program generated by RoboDK v5.0.0 for KUKA KR 210 R2700 extra on 26/12/2020 12:33:18
; Using nominal kinematics.
$APO.CPTP = 1.000
$APO.CDIS = 1.000
; /'Unbenannt'
; /''
; /'post version 42983'
; /'post modified 2020-09-18 203335'
; /'NEW SECTION'
; /'Strategy: contour2d'
; /'Comment: 2D-Kontur2'
; /'MATRIX DEFINITION'
; /'Output x(i),y(i),z(i)'
; /'Output x(j),y(j),z(j)'
; /'Output x(k),y(k),z(k)'
; /'Output dx,dy,dz'
$VEL.CP = 1.00000
; ---- Setting reference (Base) ----
; BASE_DATA[2] = {FRAME: X 1785.740,Y 30.810,Z 744.500,A 0.000,B 0.200,C 0.000}
$BASE = {FRAME: X 1785.740,Y 30.810,Z 744.500,A 0.000,B 0.200,C 0.000}
; $BASE = BASE_DATA[2]
; --------------------------
; ---- Setting tool (TCP) ----
; TOOL_DATA[1] = {FRAME: X 229.776,Y -1.085,Z 103.449,A 0.000,B 89.800,C 0.000}
$TOOL = {FRAME: X 229.776,Y -1.085,Z 103.449,A 0.000,B 89.800,C 0.000}
; $TOOL = TOOL_DATA[1]
; --------------------------
; Anzeigen Werkzeug D6.0 L40.000 Id 1
PTP {A1 -4.96151,A2 -79.64480,A3 113.93600,A4 171.15100,A5 34.20790,A6 -172.69800} C_PTP
LIN {X 51.000,Y 100.000,Z 20.003,A 180.000,B 0.000,C 180.000} C_DIS
$VEL.CP = 1.00000
LIN {X 51.000,Y 100.000,Z 10.004,A -180.000,B 0.000,C -180.000} C_DIS
$VEL.CP = 0.00556
LIN {X 51.000,Y 100.000,Z 5.003,A 180.000,B 0.000,C 180.000} C_DIS
$VEL.CP = 0.01667
LIN {X 101.000,Y 100.000,Z 5.003,A 180.000,B 0.000,C 180.000} C_DIS
LIN {X 101.000,Y 0.000,Z 5.003,A -180.000,B 0.000,C -180.000} C_DIS
LIN {X 1.000,Y -0.000,Z 5.003,A 180.000,B 0.000,C 180.000} C_DIS
LIN {X 1.000,Y 100.000,Z 5.003,A -180.000,B 0.000,C -180.000} C_DIS
LIN {X 51.000,Y 100.000,Z 5.003,A 180.000,B 0.000,C 180.000} C_DIS
$VEL.CP = 1.00000
LIN {X 51.000,Y 100.000,Z 20.003,A 180.000,B 0.000,C 180.000} C_DIS
LIN {X 51.000,Y 100.000,Z 120.003,A -180.000,B 0.000,C 180.000} C_DIS
END

[Albert]

The XYZ coordinates you see in the linear movements are usually the XYZ values defined in your milling project.

Can you provide the RDK file? We may be able to help you better.

[okin]

Hello,
thank you for your fast answer. i attached the rdk file. i think the post processor is the problem. hope you can help me.

thank you very much!!!!

---

Sorry-the RDK file is now with a 12mm diameter milling cutter. but the problem is the same:-(

---

You can find the post processor in attachment:-). Also the rhino plugin shows the same problem.

[okin]

Hello,
i solved the problem. i generate a new working space(robot model, spindel, tool, frames,...) and everything works.
thank you
regards