topic Re: Unexpected axis motion in PowerMill Forum

Unexpected axis motion

michael.barr — Wed, 01 Apr 2020 02:13:23 GMT

While preforming a PTP motion from a transition point to a Home position one of the axis of the KRC90 moves in a director not shown in simulation.

I have run and rerun this simulation and compared the axis positions at each point with the program and simulation and all looks well. But when I run this .nc file the robot flips its arm in the wrong direction (colliding with a window). The simulation shows something completely different and I am not sure why it is doing this.

Any suggestions?

Re: Unexpected axis motion

Anonymous — Wed, 01 Apr 2020 07:51:50 GMT

is there a retract ore home position fixed in the postprocessor file

what does the nc file show different to the POsition window in sim

Re: Unexpected axis motion

michael.barr — Wed, 15 Apr 2020 01:03:30 GMT

Thanks for the response @Anonymous

The home position motion is from a 'Home position' I have added in the NC program window in Powermill. The post processor doesn't add a home position at the end of the program.

The .nc file contains a PTP motion for the home retract, in the simulation in powermill the robot reads this and moves inwards towards home. When I run this through the controller the robot moves in an outwards direction.

I attached the file for reference