STEPS TO PRODUCE ROBOT PROGRAMS FROM CNC PROGRAMS
1. Configure the software
Go to the Config Menu and select the option Settings.
INI JOINTS - initial motion in axis coordinates (A1,A2,A3,A4,A5,A6)
INI TARGET - initial motion in cartesian coordinates (X,Y,Z,A,B,C). Note: This target is defined in the user coordinates
the orientation of this target will be used in all of the translated code in 3axis and 4axis CNC systems
TOOL
Tool Name - selection of tool - >toolname
TCP - values of X,Y,Z,A,B,C for the tool center point
COG - values for center of mass and orientation of the principal inertia moments
Mass - value for the tool mass [Kg]
Inercia - Inercia of the tool about principal axis [Kg.m2]
Lenght - flute lenght compensation
USERFRAME (Workobj)
values for X,Y,Z,A,B,C of the user frame
Frame Name - selection of user coordinate syste->framename (Workobj)
Roll Angle - angle to rotate wrist around spindle axis default is 0.0 ->roll angle value
MIin Spacing - minimum space between robot targets. Used to reduce the size· of the robot program (mesh of points) ->value
SAVE- saves current configuration [.CFG]
LOAD - load existing configuration [.CFG]
When the program starts the default.cfg file is loaded.
STORE- Store number for automatic tool loading
Next go to the Config Menu and select the Options available.
ROBOT
ABB - ABB robots S4, IRC5
KUKA robots KRL, KRC1
MACHINING
XYZ - 3 axis machining
XYZA - (rotating table)
XYZAB - 5 axis machining
XYZBC - 5 axis machining
SOURCE
Type of CNC program
APT
GCODE- example: uses Vectrix Cut3D - Vision Gcode mm
EXTAXIS1 TRACK - check box - activates track
TRACKNAME- >trackname
TRACKOFFSET ->value- compensates robot X coordinate for large parts E1..E6 check-> mapping for extaxis1
EXTAXIS2 TABLE - check box - activates table
TABLENAME ->tablename
E1..E6 check-> mapping for extaxis2
SPLIT FILES
Split - check box - activate split output in several files
Max Moves in file - > value - Number of motions in each file
TARGETS
Create - check box - allow the creation of targets
AXIS MAPPING - Inputs also the scale factor (encoder) for the axis. (negative to invert axis)
SCALE PROG - Inputs the scale factor to scale the part forom the CNC Code
SPEED OV - Adjust the machining Feed to speed up testing or fine tune the cutting.
2. Next fill the desired output file Name in the yellow box
3. Open the file you want to convert
There are several filters you can use to open the correct file in this case will will open an APT file
4. Next press Translate CNC in the FILE Menu
you will get information of the translation progress and at end the number of
points converted
5. Finaly open the translated file to see or edit the code
that's it!