Fusion 360 Robot Post Processors

[Richard.stubley]

Did you know Fusion 360 can now control Robots to perform subtractive toolpaths. 

Watch this live stream on how to set up your ABB or KUKA robot and get milling. @alexandre.pintoAGNAU did an amazing job getting all the content together. 

Please share any issues, and even pictures of you using F360 to drive you robot. 

[koch.reto]

Thanks guys!

This livestream was at the exact right spot for my work! I'm used to drive my KUKA robots with LIN_REL commands but for working with post processor codes (G-codes) I thought there's no way around a KUKA.CNC option. Now you teached me a pretty simple method I always wondered if it would be possible (and it's so simple obviously). I'm just happy and thankful for this lesson!

Another topic. You said that you have a pellet extruder running in your lab on a KUKA robot. Who am I need to contact about this because I'm also looking for such an intergration on a KUKA robot.

Thank you for your reply in advance and agin, well done!

[alexandre.pintoAGNAU]

@koch.reto 
Happy you enjoyed that session, grateful for your comments.

I have never driven a robot using LIN_REL commands, but have driven KUKA with various formats.
KRL is the obvious one because it is the native language/format a kuka robot uses for programming, but I have also driven KUKA robots using KUKA CNC and KUKA CAMRob syntax/language.

We have released 2 subtractive posts, KUKA & ABB and both use robot native language/syntax.

Both rely on the same principles.
1 - define a Tool with position & orientation that is valid for Fusion (Z+ Up/Down the tool)
2 - define a workplane on the part that is replicated in Fusion via WCS setup.

The KUKA post we have written is using KRL (Kuka Rapid Language) and because this is the native robot language it is easy and simple to use by robot users. The intention of the video was to cover the very basics in order for anyone to get started with a KUKA or ABB robot using our posts.

Let us know how you get along with using the post and driving your robot, and if you have any specific technical questions or issues just reach back to us.

Regarding the extruder head, it is a AMBIT™ PE-1 extruder
http://www.hybridmanutech.com/news.html      here you can find an article regarding our setup.
We have also a dryer unit to ensure the materials is at the correct temperature and humidity level and a heated bed to be used as build plate.

I hope this is useful information.
Alex

The limitations are 

[koch.reto]

Hi Alex

Thanks for your fast reply. In the meantime i had the chance to get in touch with the KUKA post what more or less does a similar movement as I use to do with LIN_REL commands. After moving to certain point, LIN_REL does nothing else than moving relative in XYZ and ABC from this position, according to the coordinates within the command instead of the absolute positions in your LIN command used in the .src file ;-). Not exactly the same but it's also referring to a certain origin. Nevertheless, I'm really astonished what you guys prepared with this post. I certainly will test this with substractive methods ;-).

What's the reason why an additive method won't work with that post or that same principles? Is it because of the extruder comand for material extrusion?

How do you prepare the code for the robot with the Ambit extruder on it? Or does that KUKA Robot uses a KUKA CNC as a processor of G-code? Many thanks for your reply in afvance but first enjoy your evening!

Best regards, Reto.

[alexandre.pintoAGNAU]

Hi @koch.reto 

below my answers to your questions.

Q
What's the reason why an additive method won't work with that post or that same principles?
Is it because of the extruder comand for material extrusion?

A
The 2 posts we have created are exclusive for subtractive toolpaths for now.
Subtractive and additive toolpaths have different types internally, as they are meant for different machines, we have limited the post for now to subtractive.
Would you want to use additive or FFF additive ? 

When we have a additive robot post we will share this with everyone.
We have driven this hardware and built a few parts using other ADSK CAM software that also drives robots.

Q
How do you prepare the code for the robot with the Ambit extruder on it?

A
The code requires ON/OFF commands at move type changes, so we control on/off of the end effector at the correct location.  Any additive process requires a few variables for process control, this that we need to implement. test and validate.

Q
Or does that KUKA Robot uses a KUKA CNC as a processor of G-code?

A
On our hardware we have used , KUKA CNC, KUKA KRL and KUKA CAMRob.
All depends on the complexity of the application/process and file size.
For clarity:
KUKA KRL is default robot language/syntax on a kuka, it is what we call robot native language.
KUKA CNC is cost option add-on software that allows you to drive the machine using GCode syntax/file
also used to overcome memory limitation common on large files such as on milling. It has a few more tricks in the bag, for more info ask KUKA directly or KUKA integrator
KUKA CAMRob is another cost option add-on software that allows for overcoming memory limitation and process control, for more info get in touch with KUKA Belgium.

Does this answer your questions  ?
If not let me know.

Alex

[Platform_]

Thanks for the video and post processors! This is exactly what I was hoping for.

We are running a ABB 6640 IRC5 and are using it for machining of wood.

The fusion CAM and post processors are great but we would like to verify the results before running it on the robot.

We want to check that there are no collisions, singularities, etc before we send it to the robot.

You mentioned running a simulation on a 3rd party software.

I have tried in Powermill but it seems powermill can not import the .mod and .pfg files that the post processor creates. What would you suggest for running the simulation? 

Does the post processor work with a 7th axis, like a track or tool track?

@alexandre.pintoAGNAU 

[alexandre.pintoAGNAU]

Hi @Platform_ 

Thanks for the feedback, always interesting to know what people are doing with the posts.

To verify the results before running you can use ABB RobotStudio for example, free for download until the end of 2020.

PowerMill is a CAM software, so created to generate code, not for import and validation. Definitely not possible to import robot code of any brand.
Are you new to Fusion and PowerMill ? or just PowerMill?
Interested in knowing your workflow before you started using Fusion/PowerMill.

Unfortunately our posts only support a 6 axis robot for now, so no external axis I am afraid.

I hope this helps.

Alex

[Platform_]

Hi Alex,

Thanks for the reply.

We have been using Fusion360 for a few years now but have only recently started with the CAM functionality.

The robot is also a new addition for us, and we are currently in the process of setting up our systems.

Powermill is new for us. 

Ideally we would like to work entirely in Fusion360, but with the 7th Axis we will probably have to export our models to Powermill and set up the cam there. We are using the robot to machine Cross Laminated Timber panels which are 8m x 3m so require the additional axis.

What is the best format (workflow) from Fusion360 to Powermill?

Is it even possible to export the cam data from fusion to powermill, or are we going to have to export the models and do all the CAM in Powermill?

@alexandre.pintoAGNAU 

[alexandre.pintoAGNAU]

Hi @Platform_

Regarding your questions.

What type of 7th axis is it ?
And what type of motion during milling ? Is it static or dynamic ?


Regarding Fusion to powerMill workflow.
PowerMill allows the import of generic TAP file, so a toolpath can be exported from Fusion and imported easily into PM using a simple fusion post that exports XYZ IJK. 


I hope this helps
Alex

[eduard]

Hello guys,

I would like to ask for a staubli val3 post processor for Staubli XT60 robot arm, to post 5 axis paths to the robot. 

There is any possibility to somebody write this post?

Thank you in advance!

[alexandre.pintoAGNAU]

Hi @eduard 

Thank you for your enquiry about a 5 axis milling post processor for a Staubli XT60 robot.

We are looking at expanding the robot post processor we support for Fusion 360, currently only ABB and KUKA are supported.

This is the first request we’ve received for a Staubli robot so I’ll add it to the list of post processors to development.  As soon as any post is made available we will post a new entry in this forum post to make everyone aware.

There are other alternatives that I would like to mention in case you are not aware, you have a few options:

• Get a quote: contact one of our CAM partners who offer post customization services.
  You will find these partners here: Service Marketplace
• Use the forum for help creating / modifying the post on your own

Again thank you for your enquiry

Alex

[Anonymous]

Hello. is it possible to divide the gcode every 2000 points?

[alexandre.pintoAGNAU]

Hi @Anonymous 

At the moment it is not possible to split toolpath or output file, but we are looking into this as we are aware this is SUPER important with robots due to memory limitations. Specially on older controllers!

I will update this forum entry with news once we have this sorted out.

Thanks for raising this issue.

Alex

[cody]

Hello Guy's,

   I have been waiting for fusion to go down this road. I currently have a project I am working on that uses an ABB IRB 2600 with IRC5 controller. It is a waterjet cell with revolving door. We will be cutting up to 500 different thermoformed plastic parts with it and I currently do all the cad in fusion and then program in robot studio. With your help I would be interested in working with you guy's to develop some 5 axis functionality in the ABB post. I could do any 3d cutting needed with just the 5 axis contour path that is in fusion. I can still use what you have now with "Trace" path and then fix configurations in Robot Studio to get normal to the surface, check collisions, ect.. I think. I will try it and run in our cell. I only expect it to be a good tool to support Robot Studio and create paths easier that will be loaded into the "Main" program when called up by the HMI. Thanks for the work you have already done. This is why I support Fusion 360 over all the high dollar software out there.

Cody C

[alexandre.pintoAGNAU]

Hi @cody 

Good to hear you are happy with what has been developed.

The ABB and KUKA posts have recently been updated, this means better documentation and posts supporting Subtractive and Additive toolpaths (FFF).
We are happy to say we have also added Universal Robots, that should get some Fusion 360 users happy also.

The post supports 3/5 axis toolpaths, and as you are aware validation is best via simulation software, specially where the tool axis changes and the robot posture also. And looking at your parts and knowing waterjet cuts need to be normal to the surface you will have a load of tool axis motion.

Look forward to your updates.
Alex

[cody]

Alex,

   I went ahead and did a test in Fusion and RS. The code is good. This will save me tremendous time as is and will help me streamline the process the way I wanted to do it.  There are several mods I am going to make over the next few days to the post and then program the parts I currently have setup in the cell and run real programs on Monday/Tuesday. I do already have some input but will take my notes over the next few days and see if you guy's can help with the more complex stuff in the post. Either way this is superior to RS "Autopath" function for simply getting good targets from CAD data. Then use RS for its power of modifying that data. I've attached a picture(Fusion Path) and a link to video of RS Rapid Sim.

Thanks Again,

Cody C

https://a360.co/2HggtQg 

[Anonymous]

Hi,
which tools did you use for the video?
I would be particularly interested in the tool shown on the picture in the appendix.
We would like to use it with universal robots UR10e.

Best regards,
Michael

[stefanie.pender]

Hi Michael,  

We used the Dewalt Router with 1 3/4 HP (Model DW 616).

Thanks!

[Anonymous]

I am in beta testing of a drip feeder for ABB S4, S4C and S4C+ controllers, with a separate dedicated mini computer to add to the robot's computer. If you are interested we can get in touch about this.

I am currently using a milling ABB 6400 S4C+ with dynamic 7th axis, and i am very unhappy with the (russian) software I am using at the moment, so I am on the lookout for something else. Fusion might be the one after seeing this video.

For my workflow it is very important to simulate all movements and to tweak positions to avoid collisions or singularities. I have seen a plugin for Fusion of RoboDK, which could provide all of this. You did not mention this in the video, but is there any development with them to tackle this?

kind regards,

Rutger Graas

Maaklab.org

Amsterdam, Netherlands

[designingberlin]

It's slightly off topic, but I'm currently working on a kuka subtractive Post and ran the first jobs already.

I want to offer services around that  at https://servicesmarketplace.autodesk.com/providers

How to sign up there a provider?

Thanks,

Stefan