topic Re: Ur Robot Post processor plasma fail in Fusion Support Forum

Ur Robot Post processor plasma fail

Anonymous — Thu, 24 Jun 2021 20:25:40 GMT

When I try to create the post file for the robot I get this error. It will work as a milling set up but not a Waterjet, laser, or plasma.

Error: Waterjet, laser, and plasma cutting toolpath is not supported by the post configuration.

Failed while processing onOpen().

Re: Ur Robot Post processor plasma fail

jhackney1972 — Thu, 24 Jun 2021 23:15:32 GMT

Is Ur Robot a type of plasma cutting machine. You may have the wrong post processor? I search for Ur Robot on the web and could not find any reference to it. Do you have a post processor file (.cps) that your are using in Fusion 360 for the post creation? Maybe it is only for milling and not cutting processes.

Re: Ur Robot Post processor plasma fail

serge.quiblier — Fri, 25 Jun 2021 07:57:07 GMT

Hello @Anonymous

The posts processors in our library have specific capabilities.

Depending on the capabilities handled by the post you can use it on some technologies or not.

Currently we are supporting, Milling, Turning, Jet/Plasma/Laser, and Additive fff.

By default the UR post has only the milling capability.

Adding Jet/Plasma/Laser capabilities shouldn't be to difficult.

we can change

capabilities = CAPABILITY_MILLING | CAPABILITY_JET;

But then, some logic to handle the cutting device power on/off is needed.

And the end effector may not be provided by Universal Robot, so the way to activate laser/plasma/waterjet could vary depending your equipment.

Give us more information, or eventually some sample code, and we can guide you through the post modification.

Have a pleasant day.

Regards

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Re: Ur Robot Post processor plasma fail

Anonymous — Fri, 25 Jun 2021 12:14:09 GMT

Thank you for your reply, It sounds like this will work. What do you need from me? The post processor file?

Re: Ur Robot Post processor plasma fail

serge.quiblier — Fri, 25 Jun 2021 12:21:33 GMT

Hi @Anonymous

I your are using the stock post processor from the library, i won't need your copy.

But if you have made some edits to it, then yes, i will need your post.

Then we need to know the command to turn the plasma torch on and off.

It it a sub program call, a call to an m code?

Can you please give some precision on this point.

Regards

Re: Ur Robot Post processor plasma fail

Anonymous — Fri, 25 Jun 2021 12:33:53 GMT

I'm using the stock universal robots file. I don't know code...As long as there is an output that is triggered I should be able to make it work. I will ask the UR robot support team if they can provide the code you are requesting.

Re: Ur Robot Post processor plasma fail

Anonymous — Fri, 25 Jun 2021 13:26:01 GMT

Re: Ur Robot Post processor plasma fail

Anonymous — Fri, 25 Jun 2021 13:32:16 GMT

Re: Ur Robot Post processor plasma fail

Anonymous — Fri, 25 Jun 2021 13:45:38 GMT

This is what was created as a script file for the milling set up... I think I would need the spindle speed changed to DO[3] = on...DO[3]=off or something similar

Generated by AUTODESK Fusion 360 CAM 2.0.10253
# Post version: 43151
# Creation date: Wednesday, June 16, 2021 07:19:54
# Toolpath Name = 2D_Contour2
# Head angle = 30 deg
#
# Set TCP
set_tcp(p[0.00000,0.00000,0.00000,0.000000000,0.000000000,0.000000000])
#
# Set Part Coordinate System
global Ref_frame = p[-0.0000,-0.4950000,0.11300,3.1400,-0.000,0.000]
#
# Set Payload
set_payload(0)
#
# Spindle Speed = 5000 RPM
# Tool = 2
# Motion Settings
acc = 1 # Robot acceleration
vel = 0.2 # Robot movej tool speed
fed1 = 0.166667 # Cutting
fed3 = 0.0166667 # Finish
fed4 = 0.166667 # Lead-in
fed5 = 0.0166667 # Lead-out
fed9 = 0.0055556 # Plunge
fed10 = 0.16667 # High Feed-rapid
rad_smooth = 0.000005 # Robot radius smoothing
#
#
# Toolpath Approach Pose
movel(p[-0.26179939,-0.426179939,0.226179939,3.10000,0.000000,0.00000],a=acc,v=vel,r=rad_smooth)
# First Toolpath Point
movel(pose_trans(Ref_frame,p[-0.092290,0.001525,0.015000,0.000000000,0.000000000,0.0000]),a=acc,v=fed10,r=rad_smooth)
movel(pose_trans(Ref_frame,p[-0.092290,0.001525,0.005000,0.000000000,0.000000000,0.00000]),a=acc,v=fed10,r=rad_smooth)
# Plunge Move Starts
movel(pose_trans(Ref_frame,p[-0.092290,0.001525,0.000100,0.000000000,0.000000000,0.0000000]),a=acc,v=fed9,r=rad_smooth)
# Lead In Move Starts
movel(pose_trans(Ref_frame,p[-0.092290,0.001818,-0.000607,0.000000000,0.000000000,0.000000]),a=acc,v=fed4,r=rad_smooth)
movel(pose_trans(Ref_frame,p[-0.092290,0.002525,-0.000900,0.000000000,0.000000000,0.00000000]),a=acc,v=fed4,r=rad_smooth)
movel(pose_trans(Ref_frame,p[-0.092290,0.003525,-0.000900,0.000000000,0.000000000,0.000000000]),a=acc,v=fed4,r=rad_smooth)
movel(pose_trans(Ref_frame,p[-0.092583,0.004232,-0.000900,0.000000000,0.000000000,0.00000000]),a=acc,v=fed4,r=rad_smooth)
movel(pose_trans(Ref_frame,p[-0.093290,0.004525,-0.000900,0.000000000,0.000000000,0.00000000]),a=acc,v=fed4,r=rad_smooth)
# Cutting Move Starts
movel(pose_trans(Ref_frame,p[-0.094983,0.004525,-0.000900,0.000000000,0.000000000,0.0000000]),a=acc,v=fed1,r=rad_smooth)
movel(pose_trans(Ref_frame,p[-0.099796,0.004867,-0.000900,0.000000000,0.000000000,0.0000000]),a=acc,v=fed1,r=rad_smooth)
movel(pose_trans(Ref_frame,p[-0.104511,0.005885,-0.000900,0.000000000,0.000000000,0.0000000]),a=acc,v=fed1,r=rad_smooth)

Re: Ur Robot Post processor plasma fail

serge.quiblier — Mon, 28 Jun 2021 13:02:55 GMT

Hello @Anonymous

I have modified the post so you can experiment.I have added the capability jet cutting,, it can use either a plasma, waterjet, or laser tool.

I have alse added a property for activating or deactivating the plasma torch.

I am using the UR script command set_standard_digital_out and you can specify the number of the post either in the old or new dialog using the adequate property.

Or the new dialog using the nc program

Happy testing, give us feedback if it's working, so we can improve the library post.

If you can, are willing, to share either pictures or small movies it will be appreciated.

(You can send it in a private message)

Have a nice day.

Regards.

______________________________________________________________

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Re: Ur Robot Post processor plasma fail

Anonymous — Mon, 28 Jun 2021 14:23:41 GMT

tried it, now having an issue with this

Error: Radius compensation mode is not supported by robot.

Error at line: 613

Error in operation: 'multi'

Failed while processing onLinear() for record 261.

Re: Ur Robot Post processor plasma fail

serge.quiblier — Mon, 28 Jun 2021 15:40:51 GMT

Hello @Anonymous

I suppose you have selected a Sideways compensation, either on left or right.

And then you probably set the Compensation type to In Control.

This is not supported at the time by the post processor, and / or the robot software.

To avoid the problem, don't use the In control, but the setting In computer.

For more information on cutter compensation support in Fusion you can consult the documents founds there :

Link to the Autodesk knowledge network

Have a nice day.

Regards.

Re: Ur Robot Post processor plasma fail

Anonymous — Mon, 28 Jun 2021 16:40:26 GMT

That worked, thank you! Im new here and still trying to figure out Fusion

Is there anyway to change the post file output toolpath approach pose to a specific position? This is also missing a p in between the brackets, and there are some brackets missing along with the a=acc should say a=acc_1

Re: Ur Robot Post processor plasma fail

alexandre.pintoAGNAU — Wed, 30 Jun 2021 14:55:12 GMT

Hi @Anonymous

Go to https://cam.autodesk.com/hsmposts Search Universal, then download the guide.

In the guide .zip file there is a pdf document that explains all the post options.
What you want is on page 12

I recommend you download Visual Studio Code and open the .cps file and edit any code that needs customization.

I hope this helps.

Re: Ur Robot Post processor plasma fail

Anonymous — Wed, 30 Jun 2021 15:29:44 GMT

This was helpful. Is there a way to change the j([ to l(p[, in the post file

without the p it will not work, and changing the move from a j to l works better.

# Toolpath Approach Pose
movej([-0.26179939,-0.426179939,0.226179939,3.10000,0.000000,0.00000],a=acc,v=vel,r=rad_smooth)

# Toolpath Approach Pose
movel(p[-0.26179939,-0.426179939,0.226179939,3.10000,0.000000,0.00000],a=acc,v=vel,r=rad_smooth)

Re: Ur Robot Post processor plasma fail

serge.quiblier — Fri, 26 Jan 2024 08:57:38 GMT

Hello @Anonymous

It's does not look that easy to do.

Because the movej command is using joint coordinate (angle for each articulation), when the movel command is using location and euler angles.

I am not sure if we can recalculate one from the other in the post.

I will ask a question to my colleague who wrote this post.

Have a pleasant week end.

Regards.

Re: Ur Robot Post processor plasma fail

Anonymous — Mon, 30 Aug 2021 12:14:25 GMT

Re: Ur Robot Post processor plasma fail

chrismmatis — Fri, 26 Jan 2024 00:20:03 GMT

everything i try to change on post process keeps coming back as for milling. i cannot figure as to how to change to plasma cutting. not sure what to do. had it on my mac that nom longer works but can not get it to work on new windows computer