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So the last thing to do before we know our robot schema is good or right is to test it. And I always do it with a cube test. I will show you how it's done. First we go to model and import our test block.

Like this. Here it is, our test block. Then we go to machining tab. And before making any operations.

Oh, and I see the test block is not in the right place. So we go back to model. Go to machining. Then click this and go to spatial transformations.

Then locate zero. X middle, Y middle and Z minimum. Apply and now it is exactly in the middle of my rotary table. By the way, I will also put this file in the description of the video.

This is a file for a rotary table originally. I think you can also use it on a fixed table. Or you can make something like this for your fixed table. Okay, we go back to machining.

And now. Again, before making any operations. Make sure your tool orientation is on up. Like that.

And also your workpiece. You want three millimeters of stock. Except on negative Z. Make sure same stock is turned off afterwards.

If you click in zero. Otherwise when you click zero. Everything will become zero again. So you have to make it three.

Then turn off same stock. And then fill in zero. Add and now we have. A box around part.

Now we can add our first operation. That will be roughing plane. Create. And.

First thing to do here is sixth axis control. We will put this on fixed vector. And X minus. Then we go to setup.

And oh wait. I see I have the wrong mill. I will. Set my 16 millimeter ball nose mill.

Like that. Then we want to change this to 10. And we want to change this to 20. Perfect.

This we want to set it to 20. Then for our parameters. I will have three millimeters stock. And.

My approach. Has to be G53. As for this one. And then everything is alright.

And then run. We have error. I have to click my top TCP. I have two TCP points.

But for you. With a manual TCP calibration. You will have one. And you don't have this option.

I do. You can also if you want to. Okay. Now it's good.

And we can simulate it. Perfect. That's our first operation. Now we go to our second.

That will be. Roughing plane 2. For this we have to make a. Sketch first.

So we are going back to model. And make a sketch. And we have to select. A new plane.

And we have to have X and Z. So we will select ZX. Okay. Perfect.

Now. Zoom in. And we want to make a. Box with two points.

Over here. And. Over here like that. It's perfect.

Then. We also want. The. ZY plane.

Or YZ. Okay. And again. A box with two points.

Around here. Like that. Perfect. Now we can go back to machining.

And we will. Select this line. And add it as. Job zone.

And then we also want. Our strategy. On 10mm. And.

We still want our 16mm ball nose mill. 10 and 20. So. This.

Has to be. Oh wait. Fixed vector. X minus.

And we also want. To mill from. Here. Like this.

Back to strategy. And then we want. This. Almost.

Like this. That's alright. Okay. Still 3mm stock.

And we want. This from previous again. Okay. Okay.

And then run. Simulate. Okay. Looks good to me.

Now. We want our. Third. Operation.

Again. Roughing plane. And then. For this operation.

We will. Copy. We will actually delete this one. Yes.

Delete. We will. Copy this one. Or duplicate.

Sorry. Then. Go to. Tool orientation.

And make this. 180. Like this. Calculate.

Perfect. Now. We want to. Duplicate it again.

But now we want it to be. 90 degrees. And we have to set. We have to delete this one.

And we will select. This one. Is the right one. I guess so.

Yeah. It's the right one. Okay. Calculate.

And duplicate. And then we have to set. Tool orientation to. 240.

No. Not 240. 270. Sorry.

Okay. Now we want to simulate those last two. Okay. Perfect.

Now we have our roughing planes done. And we will continue. To our scallop operations. So.

We go to. Add operation. And now. We select.

Scallop. Over here. Select our 16mm ball nose mill. We want this on the top.

Fixed factor. Plus. Y. Then go to strategy.

Bottom. Okay. Looks good. Except this one.

Has to be on 220. And. We have to set. Setup.

Tool orientation from up. Okay. Like that. 220.

Perfect. Now we don't want to leave any stock anymore. This one. From previous.

Return. Also from previous. And now everything looks good. Perfect.

Now. For. All the sides. We will.

Add. A scallop operation again. We go to setup. TSP from.

Top. And here. I want it. From the.

Left. I guess. Yeah. Right now.

From the left. Okay. Sixth. Axis control.

Has to be. Fixed factor again. X. Minus.

And. Now. We will select. Our.

Sketch. Again. And. This is.

Our job zone. Go to. Strategy. And.

This. Has to be. On. 80.

Millimeters. Yep. Okay. Run.

Perfect. And now. Duplicate. Turn it.

To. 90. I guess. Am I right?

Yes. 90. And now. Duplicate this again.

Now. Delete. This one. And.

This. And before. You can. Our.

Other sketch. Line. You. First.

Have to. Turn it. Around. To.

180. In this case. And now. We can select.

Our job zone. Again. And. We can click.

Calculate. And then. Duplicate. Last one.

And. Go to. Setup. And now.

Turn it. 90 degrees. Again. No.

180. So to. Zero. Again.

And now. Click. Calculate. And.

We have to. Last parts. And now. Everything.

Is in the green here. That's perfect. And. Our.

Test. Block. Is. So.

What do we want to do. With this now. We have to check. With our eyes.

Are. These lines. The same. Everywhere.

Is there. A circle. Everywhere. And.

And. Is it milled out. Perfectly. Like it is.

Over here. So now. We have to. Test this.

In real life. So. What we have to do. Is go to.

Machining. And I see. Our last. Operations have.

20 millimeter. Ball nose. Those have to be. 16.

Okay. Just. Random. So.

Again. No errors. So. Now.

We go to. Postprocessor. And. You have to.

Select. KUKA. Robot. Dot.

SPPX. That's the standard. You can find. Um.

In the. ENCY. Folder. Just.

Click. Run. Yes. I want to.

Create folder. And. Here. It is.

Your. Whole. ENCY. Code.

Output. Now. We have to. Set this.

On a. USB stick. And. Run it.

On the. Robot. So. Now.

The very. Last. Step. To determine.

If. Everything. Is right. Is.

To place. The block. On your rotary table. I already did this.

Make sure. That the block. Is. Exactly.

In the middle. That everything. Is centered. Otherwise.

This test. Will not work. And make sure. Everything.

Is running. All right. So. The last thing.

For me to do now. Is just. To shut the doors. For the safety.

Of course. And. We. Start.

The. Program. That's. Our.

Milling motor. And. Until. The project.

Is fully done. And we can check. Our test. Block.

And that's it. Okay. As you can see. Our robot is done.

With the test. So we will check it. Now. Looks quite good.

In my opinion. For a. Manual calibration. And.

What I mean by that. You also have. Robot interface. With.

Beautiful. Measurement materials. Like. Lasers.

For the TCP. And other. Calibration. Materials.

For. The. Table. Rotary table.

Or. Somewhere. Another axis. They can do it.

A lot better than me. With my. Manual calibrations. So.

As you can see. This was not. Supposed to be here. Same for this.

These are a few lines that are here now. When you do it. Better. And more secure.

These will not be there. But. For the first project. It's good enough.

So if you want to be more precise. Contact your robot integrator. Or contact a robot integrator. That knows how to work with ANSI.

And. That's it for this robot tutorial video. I will see you in next videos for sure. With other projects.

And for now. Thank you for watching to these videos.