output toolpath from powermill to robotstudio!!!???

[Anonymous]

I try to output the toolpath in Powermill which is written in g code. 

It should be work adding to the RAPID program in Robotdtudio. But although using the same robot, in Robotstudio the toolpath cannot run successfully. It keeps saying "joint out of range"

I an new of using Powermill. How you guys use the toolpath generated from Powermill to work on the robot? 

[RAL6000]

If you are subscriper of PowerMill Premium Version you could use PowerMill Robot Plugin (Needs to be activated during Installation).

With PM Robot you can adapt the post processor to what you need (Robot type, Robot Language, user specific customisation).

[alexandre.pintoAGNAU]

Stefan is correct,

What version of PowerMill do you have?

If you have Ultimate or Premium versions  you have PowerMill Robot included.

Standard does not.

please refer to this link for further info  http://www.autodesk.com/products/powermill/compare-products

You need to select the component to install during the install process.

I hope this helps.

[s3703963]

Hi,

I am using the robot plug-in within  Powermill ultimate 2020, however I am facing the exactly same problem. No matter how many combinations I try, position and orientation of the path come wrong into RobotStudio (ABB). The robot cell was configured according to Powermill ABB setup. Any suggestions? Perhaps you could try RobotStudio trial and see for yourself. Many tks.

[lee_sanders]

Hi @s3703963 

Are you able to share an example PM project and any footage from RobotStudio?

[alexandre.pintoAGNAU]

Hi,

I am almost sure the issue is related to workplanes, either tool or part, or both !

Most of the time it goes unnoticed that PowerMill Robot (PM Robot) has the Z+ pointing up through the spindle, and X+ in front. So if you have simulated inside PM Robot you need to have the same Tool settings inside ABB Robot Studio and on the real machine.

So the Tool workplane inside PM Robot has the same orientation as the ABB world workplane , just located at the tip of the tool. 

Same applies to the part/output workplane, whatever you define as your output workplane in PM Robot must be defined as your WorkObject inside ABB Robot Studio and/or the real machine.

Tool & WorkObject workplanes must exist on the same location with same orientation inside PM Robot and ABB "universe"(virtual/Real world).

This should fix your issue, unless something very strange is going on.

If not as Lee hinted, share with us your data so we can take a look.

I hope this helps

So you must setup both 

[s3703963]

Dear Colleagues,

First, I appreciate the answers since is imperative for me to solve this pickle. Regarding your answer, yes my robot XML was not entirely as in ABB, so I tried to solve it. In fact, I was able to re-orient the plane XYZ, however, when I apply the tool, the XYZ origin displaces against the end-effector and I fail in solving this part of the problem. For your analysis I posted the entire cel (MTD and XML files) as well as an explanatory image. I hope to hear from you soon.

Thanks for the support!

Kind regards, Sergio

[alexandre.pintoAGNAU]

Hi Sergio,

Apparently I was not clear in my answer, if you look closely to all the robot cells supplied in PowerMill Robot default Robot library all of them have the Z+ pointing UP through the spindle/tool.

So please revert your IJK UVW back to the default values.

If you open the the PM Project named "DemoToolControl6D"  located here C:\Program Files\Autodesk\Autodesk PowerMill Robot Plugin 2020\Library\Projects, you will see that the tool is always aligned to the toolpath and Z+ is pointing up.  You can simulate without a machine/robot.
The point is PowerMill defines Z+ up through the tool/spindle and this CAN'T be changed!

What you need to do is:

- revert your mtd back to Z + Up, and X+ forward as PowerMill Robot documentation describe.

- use one of the appropriate methods to  calculate the XYZ position, and the Q1Q2Q3Q4 orientation of your tool inside PowerMill.

- update the controller to replicate PowerMill Tool (NOT THE OTHER WAY ROUND).

- simuate the toolpath, post process and run on the robot/RobotStudio

ABB Tool can have whatever orientation you want, so you need to replicate the orientation PowerMill requires, not the other way round

Below the steps to measure the XYZ and Q1Q2Q3Q4 of a 80 mm length tool inside PowerMill Robot.

note: this is theoretical value, only to me used for testing on ABB Robot Studio.

If you update your tool inside ABB Robot Studio to the XYZ and Q1Q2Q3Q4 values defined above you will see that the tool will match PowerMill Robot. This is the steps that is missing for successful simulation of your toolpaths in Robot Studio. 

Is this clear?
If not please let me know.

let us know how you progress on this.

Alex

[s3703963]

Hi,

Thanks for the effort. Yes, the instructions are clear and I managed to do as you said (see pictures). However, while recording the robot program I am receiving a message from PM asking to confirm changing the MachineTool (see pictures), which is weird since I have it defined in the toolpath. Why is that? How can I avoid it and if not, should I answer YES or NO?

Again, your help is vital and progress have been made. I hope to hear from you again.

Thank you, Sergio

[alexandre.pintoAGNAU]

Sergio,

I am not too familiar with that message, but I believe it might be because you have a machine tool selected in the tool path menu.  See image below.

Make sure the toolpaths do not have any selection and try again.

I hope this solves this.

Alex

[s3703963]

Hi Alex, You are correct. I mean, not defining a robot within the toolpath solved (avoid) the question above mentioned. However, I still have two last questions for you. I am receiving two errors for the commands of 1)“Work Object Data” (wAutodesk1), and 2) “Tool Data” (tAutodesk1) not recognized when the program is opened in ABB RobotStudio. Can you confirm what fields (if any) I should answer in PM robot plugin to export the program correctly? (see the attached picture). Thank you for this excellent support. Kind regards, Sergio

[alexandre.pintoAGNAU]

Sergio,

The reason you have the error is because the Tool and the WorkObject are not defined on your controller.

Either on the virtual or real machine, so these must be defined in order for the robot to recognise them. The fact that the program calls these 2 entities and they are not declared, raises the errors.

I prefer to define the tool & workObject on the controller and run my programs.  This is the way we use machine tools and so I prefer to run robots this way too.

I suggest you open C:\Program Files\Autodesk\Autodesk PowerMill Robot Plugin 2020\Help
Open "PowerMill Robot - Training Manual.pdf"
Page 29 - Tool Database
Page 31 - Fixture Offsets

This contains explanation of what you are looking for.

We have the option to write out in the main file (Autodesk.MOD) the Tool & WorkObject definition.

This means the post processed file will have the XYZ Q1Q2Q3Q4 of each defined on the top of the file. This is very handy but can cause issue if not used correctly, it can cause errors on the robot or collision.  If the tool defined has a position and/or orientation that does not match powermill expect something to go wrong.

Normally WorkObject is defined on the robot by 3 points, just define the name of the workObject same as in PowerMill.

Open the Fixture Offset tab (Robot configuration menu), select appropriate workplane/option and tick "Write fixture Offset data into the Robot program", this creates the WorkObject definition.

To define the Tool you have a few options (only 2 and 3 write define the tool in the output files):

1 - enter the tool and work object data manually(XYZQ1Q2Q3Q4), this is done either on the controller or the robot.
define the correct option (option 1) on the robot configuration menu (tool database menu) and post process.
Use the workplane calculator to get the correct XYZ Q1Q2Q3Q4 for each.

2 - complete the tool & spindle calibration procedure
define the correct option (option 2) on the robot configuration menu (tool database menu)
select where the tool length is coming from, and post process.
This option will write tAutodesk1 data.

3 - use the workplane calculator (steps in image on manual) to populate the tool list, save
Post process, this option will write tAutodesk1 data.

End result of tick "Write fixture Offset data into the Robot program" and using option 2 & 3 of tool database is below.

When I run jobs on robots I define the workObject on the part by 3 points (using the robot), and use option 1 of tooldatabase. I conduct a tool & spindle calibration and use the tool gauge length to define the Tool  XYZ Q1Q2Q3Q4. I enter the Tool data manually into the controller, I find it safer and easier to avoid mistakes.

I hope this helps solve your issue

Alex

[s3703963]

Hi Alex, Thank you for all the support o this matter. Most importantly, became clear what can be expected to be ready into the robot. All the best, good job!