Need to add Kuka Kr20 R3100 Iontech to library

[Anonymous]

Hello,

I am learning to use PowerMill Robot and need to add the Kuka Kr20 R3100 Iontech to the library, how do I de this?

I want to use it with a rotary table, maybe the CR700 https://www.weiss.uk.com/Typ-CR.286.0.html.

Can someone help?

Cheers

[alexandre.pintoAGNAU]

Hi @Anonymous 

The alternatives are :
-create the digital twin yourself
or
-get in touch with a supplier that can quote you this work. (use link below to search for local suppliers) or contact your local ADSK rep.
https://servicesmarketplace.autodesk.com/providers/product/powermill?_ga=2.175874658.1589964000.1619426130-1449841688.1604673557

In case you want to do this yourself,  please open C:\Program Files\Autodesk\Autodesk PowerMill Robot Plugin 2021\Help

The document you want to follow is PowerMill Robot - How to build a robot simulation.pdf

If you open the folder C:\Program Files\Autodesk\Autodesk PowerMill Robot Plugin 2021\Library\Robots    You get access to the sample file robots.
You can confirm we have a .mtd and a .RobConfig file, this pair will configure the digital twin. Use CAD to replicate you cell, you can export the .dmt file from PowerMill in case you do not have PowerShape.

The .Pripost file might also need to be updated to run your code on your machine.
Open C:\Program Files\Autodesk\Autodesk PowerMill Robot Plugin 2021\Library\PostProcessors  to see supplied default posts.

read PowerMill Robot - PostProcessors.pdf   from   C:\Program Files\Autodesk\Autodesk PowerMill Robot Plugin 2021\Help     to learn the post basics.


I hope this gets you started.

Alex

[Anonymous]

Thanks Alexandre,

I've got the step file from Kuka, and have exported each part, but know I have a problem where the wrist is not attached, as seen in the attached picture.

How can I fix this?

cheers

[alexandre.pintoAGNAU]

Hi,
The explanation is inside PowerMill Robot - How to build a robot simulation.pdf

This is the document you followed to prepare you digital twin, and it details that you must measure the centre of rotation for each axis (XYZ) and update the mtd.  so thh value in the mtd file for each axis must be updated, below what you need to look for in the mtd.  

<simple_rotary X="327.141" Y="0.0" Z="916.1" I="0" J="1" K="0" />

If you are not using PowerShape it should not make a difference, measure XYZ from the robot zero (at the base). 

I hope this is clear.
Alex

[Anonymous]

Thanks for your help Alexandre, I've got it to simulate.

It seems that I will have to guide it through the entire path as it's colliding the whole time, oh well.

[alexandre.pintoAGNAU]

Hi @Anonymous 

Do you have collisions when the robot is at home position? 
This means, without simulation with the robot static PM raises a collision?
If so that means you have static items that are raising a collision and you should create an exemption group to ignore these.

- open the KUKA KR300 robot mtd file
- read line 10 to 18.

If you are not sure what items collide, follow image below to see the items names.
These names should be used as on lines 15 and 16.

If it is another form of collision I need more data than your description to see what might be causing it.

I hope this helps.

Alex