Robotic

Pablo

How i can do a robot read  g-code ? Example: If i already have a g-code of the 3d printer, has a type of I send this g-code for the robot can execute the moviments of printing ?

Sebastien

@Pablo
do you have documentation about your G-Code that you are trying to translate. Basically a documentation that would allow us to understand what is the structure of the G-Code. Once we have that, we can look at how you could translate!
You could also load the G-Code here with comments on each line!

matthewd92

@Pablo you may want to check with robotmaster, they may offer a free or deeply discounted version to students, a lot of engineering software does. 

Looking at your GCode what do you plan to do with the extrusion component "E" with the robot?  You could write a simple script converter I'm sure that could convert G1 to a movel using the F as your velocity, you'd need to convert that to something the robot is capable of performing. 

Sebastien

@Pablo take a look at this post!

Pablo

@Sebastien  I looked that post, but there just show how i can generate the process of simulation of the robot,  i need to know how i can input the g-code in the software and creat the language to robot simulation. Can you understood me ?

matthewd92

Pablo,  

You will need to use a 3rd party translation software such as RobotMaster to read the G-Code into the robot to create robot motion at least with UR.  Somehow you have to translate the G-Code such as G1 or G0 into what you want the robot to do such as movel, movej or movep

Here's some info from their website...

Convert CAD/CAM Data to 6-axis Robot Output

Use the graphical interface to fine-tune the parameters by which Robotmaster will translate the 2 to 5 axis CNC toolpath data into a 6-axis robot toolpath.

• Set robot configuration for optimal robot posture
• Manage motion between operations

Convert CAD/CAM toolpaths to robot positions

Pablo

@Sebastien  I have a example that I want to convert for robot language. Look, please !!

Pablo

@matthewd92  I saw something about RobotMaster. To speak the truf, this software was my first option, but he's a sotware that I have to pay to have to me, and as I'm only a student from Brazil, I don't have money or contact for have the RobotMaster. I am right or I can have this software free?

Pablo

@matthewd92

So, the extrusion component "E" will be read parallel with the robot move, i only need to convert the positions X, Y and Z. 

Thanks for the tip about RoboMaster, about this when I made contact with the enterprise, the enterprise  offered for me an version free, but for a limit time, and I need for a long time, to be more exact I would need this softwate for the first half of 2017

matthewd92

So what you could do is to use these commands and parse the file to move the XYZ into a servoj command which can be fed to a UR robot at 125 Hz.  You would need to do something like this:

servoj(get_inverse_kin(pose_trans(TOOL, p[X,Y,Z,0,0,0])),t=.008).  (Check the URScript manual to verify that all the syntax is correct)

You would need to write a translation program to get all of this out of the G-Code file.

Good Luck!