Hi all, 

We are using the Prismatic Machining and Multi-Axis Machining Apps to create wood milling programs for our Kuka 6-Axis Robot Arm. Our issue is when we export the milling program, the Kuka Translator (have tried R2021x and R2020x) will not create circular motions (ie. Instead of one circular motion it will create lots of small linear motions). This results in extremely large programs that are difficult to manage. 

In the Robot Simulation app, I can create programs with circular motions and have them export correctly to the Kuka Language. So I know the translator can create circular motions; it just wont create any from the machining applications. When looking into each machining operation, I see that it is composed of small individual linear motions, however, if I change the type of controller to be a NC Controller and select the 2D and 3D circular interpolation options, I can export G-Code with circular motion. There is no interpolation selection available for the Robot Controllers. 

If anybody has any advice on how to get circular motion commands for Robot Languages out of the machining applications, please comment down below! Or if you need any additional information, I would be happy to provide more info about my preferences setup.

Thank you in advance!