TCP 5-axis kinematics

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17 Jun 2019 18:53 #137144 by jsskangas
Replied by jsskangas on topic TCP 5-axis kinematics
Mine is fully working 5-axis switching kinematic machine.
I use M128 and M129 user M command to switch TCP on/off.

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17 Jun 2019 18:58 #137145 by jsskangas
Replied by jsskangas on topic TCP 5-axis kinematics
Hello 3D-Master

Machine zero is machine zero and you should not change its place, for that you have G54-G59 zero points.

You need to zero machine with index pulse from encoders.
this way you will get correct machine zero.

then you always know where your rotary center is and you can use parameters to tell to kinematics.



Zero point can not

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18 Jun 2019 15:42 #137200 by pl7i92
Replied by pl7i92 on topic TCP 5-axis kinematics
on a 5 axis there is only the tool length that cananges
there is no part zero
as the postprocessor refers to mashine ZERO
thats the same as G54
X center C table G53 eq G54-G59
SAME on Y
Z is ON MY MASHINES calibrated to 100mm from AC hight
the TOOLs are Mesurerd against this to the AC
A is horizontal with -15 +95 WAY movement
C is zero to a precise switch and the encoder Index

so all is only one coordinate there is NO part Touch off AT all
partzero is Bottom MID point

if you use a 4Axis G-code eighter A is fixed to Zero or 90 deg depending on part
i use a Different Config depending on part

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18 Jun 2019 21:07 #137230 by 3D-Master
Replied by 3D-Master on topic TCP 5-axis kinematics
@pl7i92

of course 5 axis machines have Part zero
also Machine zero is not the same as G54, because G54 is the part zero.
"X center C table G53 eq G54-G59" Only if the machine zero is at the center of rotation AND you have set G54-G59 without offset.

this way you are limited to "having to perfectly align a part respectively to the CAM part", which we want to avoid.

@jsskangas

yes, what i ment was to use parameters from the .var file to dynamically change the center of rotation point. The machine zero might be just slightly off the real center of rotation point so the part will be inaccurate to a degree. So you could probe the real center of rotation, feed the X,Y,Z values to the .var file and the kinematics module will read those values. I think this is what industrial controllers like Heidenhain do. Also if it is possible to do it like this, you could set the machine zero at Z-Max or wherever you want to.

I hope you understand what i mean

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18 Jun 2019 21:18 #137231 by jsskangas
Replied by jsskangas on topic TCP 5-axis kinematics
This is the case. my machine zero is far away from rotary center.
My machine zero is at tool change position and following parameters will tell kinematics where rotary center is located.

setp XYZBCsmkins.X-rotpoint 102.8505
setp XYZBCsmkins.Y-rotpoint 0.0968
setp XYZBCsmkins.Z-rotpoint -455.3930


Also zeropoint used in operation can be set to part.
with this kinematics zeropoin does not need to be located in rotary center.
The following user(s) said Thank You: 3D-Master

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18 Jun 2019 21:49 #137232 by 3D-Master
Replied by 3D-Master on topic TCP 5-axis kinematics
i have not actively followed this thread, does switching kinematics now work when rotarys are not at zero? Also this is for 2.8 right? can you change the centerpoint position values on the fly without restarting the machine? could you maybe, when you have time, upload the newest machine files?

thanks

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19 Jun 2019 20:29 #137306 by Hakan
Replied by Hakan on topic TCP 5-axis kinematics
I am also interested in the current status.
Especially around the shifting of kinematics at arbitrary position.
Is that real now?

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