G-Code Conversion

Replies to This Discussion

Permalink Reply by Johannes Braumann on December 9, 2011 at 10:08am

Hello,

Are you sure that "Geku" is a robot manufacturer? Because the only relevant Google result was this homepage: http://www.geku.co.uk/

They are a robot integrator and sell KUKA, ABB, and Motoman units - so you have to find out what you actually have, if you can e.g. use KUKA|prc or HAL (both e.g. from Food4Rhino).

I see in your profile that you're from Loughborough - as far as I know, the university there has a Motoman.

If you want/have to do it yourself, you should analyze the structure of the existing robot code, if it requires Cartesian or axis values. Then you might have to deal with inverse kinematics, matrices etc. - it's not easy, but fun :)

Regards,

Johannes

Permalink Reply by Philip Valentine on December 12, 2011 at 4:35am

I am unsure but I think the arm may be a motoman then.

 

Thanks for the insight into the direction I will have to go in.

 

 

Permalink Reply by taz on December 9, 2011 at 11:12am

Also Google search this forum for "G code".

The topic has been discussed in the past.

Permalink Reply by Philip Valentine on December 12, 2011 at 4:39am

I have searched the forum for this topic, but all I seem to find is 3 axis stuff and the one 5 axis discussion which I have tried to integrate into my system but have failed on each attempt.

Permalink Reply by trevor.patt on December 12, 2011 at 1:01pm

That's probably because while G-Code is pretty standard for CNC routers, most robot manufacturers have proprietary code: ABB: RAPID code, Kuka: KRL code...

Arm based movements are much different than parallel movements

Permalink Reply by Philip Valentine on December 13, 2011 at 8:17am

What I am struggling with is adding in the extra angle data from the normals which are fixed to the Z axis into the current code generator. I have no idea where to insert the extra data.

Permalink Reply by Johannes Braumann on December 13, 2011 at 8:21am

Can you post an exemplary robot control file? Or send it to me via eMail: johannes [at] robotsinarchitecture.org

By the way: The current/upcoming range of KUKA robots will enable direct reading of G-Code, but you would know if you had one of those robots ;)

Permalink Reply by Philip Valentine on December 13, 2011 at 8:50am

I have sent you some robot control files I received from the technition to your email.

 

Hope you receive them and that they are useful.

Permalink Reply by Fabian Schrattenholz on January 14, 2014 at 1:48am

Hej,

I'm using Blender and BlenderCAm to generate Gcode. A friend of mine has a "old " kuka krc2 which speaks kuka robotic language. I think that s a similar constellation to yours. Did you had success converting the code to your robots language?

greetings from germany

Permalink Reply by Johannes Braumann on January 14, 2014 at 5:14am

Hello Fabian,

What an old thread! :)

An easy way to deal with that is to write a script that reads your BlenderCAM G-code and converts it into geometry such as planes. Then you can use software like KUKA|prc to simulate it and convert it into robot code. The free trial version of KUKA|prc does generate KRL code, it just doesn't contain some advanced features such as support for linear axes.

If you want to convert your code directly into KRL, our research should be able to help you with the math: http://www.robotsinarchitecture.org/robarch-publications

If you're only doing three-axis processing it's even easier - you just export the toolpaths as a polyline and place a plane at each control point. KUKA|prc then takes care of the conversion. Let me know if you need help with that.

Best,

Johannes

Permalink Reply by Fabian Schrattenholz on January 15, 2014 at 5:53am

Hej Johannes,

an old thread but seems to become where helpful.

Thank you very much so far. I ll discuss your words with my cumpadre,.. specify my knowlege and come back ;)

Best regards,

Fabian