[Martin_Necas]

Dear Albert, 

I have potentially identified a problem with trajectory generation from APT obtained
from Autodesk Fusion360. Generated code by RoboDK contains senseless arc trajectories
as shown in the picture "Problematic_arc"
   

The first problematic arc is in folder qk_1_r22 in start.pgx on line: 449.
Arc from points: 203, 204, 205

The program runs on Staubli Controller CS8C with no problems until this arc, then it ends up with this message
"Staubli_arc_error_message"
   

Based on Staubli documentation arcs must be specified using free points A,B,C according to 
"Staubli_arcs_definition" with 180deg max between A-B and B-C points, that this case violates.
We consider these points to be improperly generated. It is surprising that the intermediate generated point B is not in the "middle" of points A and C.
   

I tried to avoid the existing problem by tuning arcs generation but the program still contains small arcs.

When I tried to set the Maximum Arc Size (mm) to 0.01 mm RoboDK collapses without a warning upon using "Generate Robot Program".
   

Could you please check out on our findings, is it a bug or did I mess up the setup?


Best Regards from Czech Technical University in Prague,
Martin


Attached:

- APT from Fusion360
- RoboDK Project
- Generated VAL3 Project by "Staubli VAL3" postprocessor
- Printscreens

[Albert]

You can invert arcs by checking this option:

1. Select Tools-Options
   
2. Select the CAM tab
   
3. Activate the option Invert arcs automatically
   

Then, you can import the APT file again.

If the issue persists, can you generate a smaller APT file that better shows this issue?