5 Axis ParPort Stepper Setup with RTCP

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14 Sep 2015 05:23 #62526 by marq_torque
Hello people,


I did checked Kinematics.c and all files, i found myself dumb. :S ... i dont get idea where to start from. basically i think my task is simple but i dont know where to start from. so thing is See rotary table in C axis will not have any relation with any axis for any compensation, it will be always XZ-B but i dont know how to unlink C Axis and Y axis from kinematics hal and ini... somebody give me direction ....

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14 Sep 2015 05:29 #62530 by andypugh

i dont get idea where to start from.


Start with a pencil, paper and trigonometry.
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14 Sep 2015 05:37 #62531 by marq_torque
okay yes i can do math for XZB and thing is its already configured in 5Axis kin. i am testing right now. is it possible to modify it ??

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14 Sep 2015 05:47 #62533 by andypugh

its already configured in 5Axis kin. i am testing right now. is it possible to modify it ??


If you are using 5axiskins and that is geometrically correct for you then you probably only have to change the pivot-legth HAL parameter to make it suit your machine.

I am still not clear what your degrees of freedom are.
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14 Sep 2015 05:54 #62534 by marq_torque
If you look them two machines, i have already XYZBCW configured 5Axis Kin working now, and what i am trying to do is, as another picture of machine. it says XZB are independent, and C is having no relation with tool length compensation with B axis in my configuration Head is having only One rotary axis is B and its compensated as per tool length and move XZ accordingly.
Attachments:

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14 Sep 2015 05:55 #62535 by marq_torque
C axis is Workpiece, Rotary table. so i can not use this C axis In head !

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14 Sep 2015 06:13 #62536 by andypugh
You probably need to replace the C-axis terms in the equations with 0 then, ie edit lines 44 and 65 here:
git.linuxcnc.org/gitweb?p=linuxcnc.git;a...80e5de935e15;hb=HEAD

So that axis C / joint 5 is replaced by a constant 0.

You might be able to compile the edited kinematics file with halcompile.
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14 Sep 2015 06:19 #62537 by marq_torque
alright andypugh,

now i am confused ... 0 or 1 ??and what if i delete whole line ?? i mean i am not getting how to !! sorry ...

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14 Sep 2015 06:23 - 14 Sep 2015 06:23 #62538 by andypugh

now i am confused ... 0 or 1

0. I think. Possibly 90 or 180 or -90. It depends.

and what if i delete whole line ?? i mean i am not getting how to !! sorry ...

If you delete the whole line then the kinematics won't work at all.
Last edit: 14 Sep 2015 06:23 by andypugh.

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14 Sep 2015 06:26 #62539 by marq_torque
but i need c axis to moving simultaneously with xzb

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