TCP 5-axis kinematics x

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28 Mar 2020 21:47 #161844 by andypugh
Replied by andypugh on topic TCP 5-axis kinematics x
Normally you would "setp" those HAL pins to suit the fixed geometry of your trunnions.

It isn't anything to do with home positions etc.

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29 Mar 2020 08:35 #161921 by papagno-source
Thanks for the answer. So ultimately, I have to set xyzbc-trt-kins.x-offset and xyzbc-trt-kins.z-offset based on the physical center distances of my table based on the dimensions of the table manufacturer and to perfect the kinematics and adapt it precisely use xyzbc-trt-kins.x-rot-point and xyzbc-trt-kins.y-rot-point and xyzbc-trt-kins.z.-rot-point.
Correct?

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29 Mar 2020 15:10 #161977 by andypugh
Replied by andypugh on topic TCP 5-axis kinematics x

papagno-source wrote: Correct?


Probably. At this point you know as much as me.

In addition to the manual page:
linuxcnc.org/docs/2.8/html/motion/5-axis-kinematics.html

You can probably get some info from the sample config HAL files: (Actually, in this case the settings are made in the INI file, which is unusual)
github.com/LinuxCNC/linuxcnc/blob/master...ng/xyzac-trt.ini#L32
Note that two of the offsets are set to standard values, and one is linked to the tool length.

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19 Apr 2020 05:35 - 19 Apr 2020 05:36 #164591 by MDM3D
Replied by MDM3D on topic TCP 5-axis kinematics
Dgarrett/All, I have tried to add the foward and inverse kinematics for an AB configured machine with a rotary table A and a rotating Spindle B. How do you think I should go about coding for the fact that my X rotation point moves with the head. It does not have a fixed point like a AC or BC table/table configuration? Would it be as simple as like how the tool length offset is configured. I am starting to see the advantages of having the table table configurations with the motion control. I would just loose to much space on my configuration if I did table/table.
For instance if I replaced x_rot_point with something like pos.x which would be the current X pos? If I am thinking correctly Y and Z rotation points do not move on my machine. I don't think I can define the X rotation point as a changing number in the .ini file.
Last edit: 19 Apr 2020 05:36 by MDM3D.

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02 May 2020 20:54 - 03 May 2020 07:02 #166429 by papagno-source
Hi stay test on real machine xyzbc-trt configuration.
On real machine when switch on TCP-xyzbc and move B axis with jog-pendand in 0.1 increment the axis Z vibration , i thing have
immediate accelleration , for reduce this i have impose fractional-acceleration in ini file on B axis at 0.1 value.
The actual max acceleration for alla axis is 500 value.
Whit 0.1 the fractional-accellarion value , now move good, not vibration.

But i have test in manual mode B+ or B- with tcp on and Z axis vibration.
I don't have test again in automatic, but thing can create some problem , not understand how can resolve this problem.

I don't understand with TCP on , if move B axis , Z axis move with B axis max accelleration value or Z max accelleration value ?

Or when use TCPon in normal operation automatic mode , the velocity are small and this problem not appare ?

Thanks
Last edit: 03 May 2020 07:02 by papagno-source.

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03 May 2020 18:41 #166523 by papagno-source
Hi. I have test in automatic cycle and work good with tcpon and tcp off.
Have modification logic the machine , when is manual and have tcp on , can move only with jog pendant and not in JOG move .
Is dangerous move machine in jog mode with tcp on.
The next step will ceck the geometry table.

Thanks

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29 May 2020 20:33 #169351 by papagno-source
Hi .
i have cecked the my geometry table BC type on 5 axis machine.
When rotate B 90° or B -90 and control linearity along Y axis , have 5/100 mm on 300 mm travel the y.

Now for adjust the geometry , i can move the meccanical feedback , but not is ideal .

Exist in KINEMATIC , the pin for correct in kinematic geometry problem the table respect X axis or Y axis or Z axis ?
I thing a value imposed on some pin , loated in KIN , for correct automatically position the X axis , when Y axis move , for cancel the
5/100 mm the geometry error proporzional at Y movement .

Thanks

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