Macro to Create Robot Programs w/ Robot Plugin

[Anonymous]

Hello,

I am attempting to create a macro that takes a toolpath run by my robot (generated from the "Vertical Plugin Window" > "Robot Control"), navigates to the "Vertical Plugin Window" > "Robot Program", and adds the toolpath with a home position before and after. The issue is that I don't see any macro commands that correlate with commands entered in the "Vertical Plugin Window". When I recorded a macro and added the program pieces, the resulting macro ran but did not properly create a robot program. Does anyone have tips for creating macros for using the robot plugin in PowerMill?

[andrew.colledge · Accepted solution]

Like most, perhaps all, the plugins, the Robot plugin does not use the PowerMill command processing, so what you want to do is unfortunately not possible (unless I'm very mistaken).

For information, there is a mechanism in PowerMill to send a command to a plugin, but the Robot plugin only recognises a very limited set of commands (for example to stop it responding to machine tool movement events, or let it load any MTD not just a robot), and these may not be very robust.

You are welcome to raise a wish for this through your local Autodesk support, but to set realistic expectations this would be a substantial piece of work and is not something that many users are asking for, so is unlikely to get done.

Sorry to be the bearer of bad news.

[alexandre.pintoAGNAU]

Hi,

Andrew is correct on what you are trying to do. 

The Robot program functionality is the only one that cannot be replicated via macro, this tab is the only one that can't be replicated, all other functions in PM Robot can be replicated in a macro though. You would have to write your own plugin to replicate this functionaly.

The first 3 tab menus; Robot Library, Robot Cell and Robot Control can be replicated via macro.

All you need to do is to Right Mouse click Macro in the explorer, on the open menu click record.

This will save a .mac file (pm macro commands will be displayed) for each click you make on PM Robot. 

Right Mouse click Macro in the explorer, click stop to stop recording.

Look through the file to see what internal commands PM Robot uses. In theory all the functionality in these 3 tabs can be automated and replicated. 

Note : click one PM Robot button at a time as the number of internal commands called is long!

I have a question.

Why are you trying to add home positions before an after in the NC program tab?

If it for simulation purposes - Because when you simulate the NC program, the NC program always starts and ends in the home position stored either in mtd file or in robot configuration form. If it does not, then something might be set up incorrectly in your virtual cell.

For post processing purposes - it is easier to add to the post a call for the HOME position at the start and end of the main file (main file calls subroutines) to make the robot go to that position if that is what is desired. The home position is a variable you can use anywhere in the file, this way you don't have to add the Home in the NC program at all. 

I hope this helps.

Let me know if you need anything else.

[RAL6000]

@andrew.colledge 

Can you supply more informations how to unsubscribe and re-subscribe the Robot Plugin to MachineToolMovementEvents ?

I realized this is slowing down my whole automated robot Simulation.

[andrew.colledge]

PLUGIN {6A07692E-87EB-4CB0-85F7-2E5D54222C0B} UPDATEONMACHINETOOLMOVEMENTEVENT ON/OFF

If that doesn't work check that the GUID in the braces (i.e. "{6A07692E-87EB-4CB0-85F7-2E5D54222C0B}") matches the Class ID of the active Robot Plugin shown in the Plugin Manager.

This is not expected usage for the Robot Plugin, and it may behave oddly or even crash (though I think that is unlikely).

[fanyPDB75]

how to let powermill robort plugin load any MTD not just a robot？Where to see these limited robort plugin command sets

[alexandre.pintoAGNAU]

It is NOT possible to load in PowerMill Robot mtd files other than 6 axis industrial Robot mtd files.