Fusion 360 Manufacture Kuka KRL post processor coordinate issue

[g.brownP38RC]

I am wanting to carry out some milling with my six axis Kuka robotic arm, which I've attached a mill spindle to. I downloaded the Kuka KRL post processor config from the autodesk website: https://cam.autodesk.com/posts/post.php?name=kuka and have installed in my fusion posts library. 

It seems to be working fine, apart from that in the export code, every x value is zero throughout (y, z, a, b & c look right). I've tried it for a few models now, here's the most recent:

and the start of the code:

Would be great if someone could tell me what I'm doing wrong.

Thanks!

Guy B

[devon.dupuis]

It is posting tool axis vector. The robot will decide how to get to that point.

Um did you try it? 

Could there another issue?

[Marco.Takx · Accepted solution]

Hi @g.brownP38RC ,

Like @devon.dupuis said, it is posting tool axis vectors. The robot will decide how to get to that point. 

The best software to handle/controle this is Autodesk PowerMill. 

Fusion 360 isn’t the software at the moment to use for posting programs for robots. 

If my post answers your question Please use  .Accept as Solution & Kudos This helps everyone find answers more quickly!

[g.brownP38RC]

Thanks @Marco.Takx  and @devon.dupuis.

I have tried it on the robot - the issue is the milling bench is in front of the robot (offset in the x direction). Whenever I run the code the robot starts moving towards its base (where x=0).

OK thank you I will give powermill a go. Seems strange that the official Kuka KRL milling config for F360 manufacture simply doesn't work though?

[alexandre.pintoAGNAU]

Hi Guy,

I believe your issue is quite simple, but to be sure I need to ask a few questions.

How familiar are you with defining a BASE DATA on the robot ?

This involves using a calibrated tool on the robot (the robot must know the length of the tool, that is XYZ coordinate of the tool tip) and measuring a Base by 3 points.

Measuring a base by 3 points will define the location of the coordinate system, and this should be on the part. Same position and orientation as your setup inside Fusion.
i.e. output workplane MUST be in same position & orientation on the part as the BASE DATA defined on the real robot.

What this translates to is:
The Base Data will be filled in with the offset and orientation of the workplane (X,Y,Z,A,B,C).
XYZ = the origin of the workplane (it's position)
ABC = orientation

So if the base has been measured and by 3 points, the controller will store the location (xyz offset).

If it has not been taught, it will be filled in by default as (0,0,0,0,0,0), and this is the same as the robot ZERO (at the base) because NO OFFSET has been defined. Image above should make it clear.

My Guess is:
- the base data on the robot you are using has not been defined on the part.
or

- the program you wrote does not define the same base defined on the robot controller

This would explain why the robot moves towards it's own physical base !  The coordinate in the program states X=0, so if the BASE DATA is set to ZERO offset, then the robot it will have to go there!!!  I hope it makes sense.

Does this help?

If you need any further information or details let me know.

[atvservice]

Where the BASE DATA/Workpiece frame is defined ?

[alexandre.pintoAGNAU]

hi @atvservice 

If you are asking how to define the Base & Tool in Fusion please see the documentation (pdf Guide) available in the KUKA post download page. There is a link named "guide" and this will save a pdf on your machine.

It should detail how to define base and Tool in Fusion and on the robot. please note that the orientation of teh tool is limited to what is specified on the document.

The base is defined via WCS, the document has details on it.

I hope this helps.
Let me know if this is what you are after.

Alex