TCP 5-axis kinematics

Open the desktop icon with a text editor, and edit the command.

I have on that looks like this:

thanks that worked,

Assuming that you applied the changes without mistakes, if things don’t seam to work as expected, assume that either your configuration is incorrect or you are misunderstanding the correct behavior - I say this because the code does work, as I have tested it many times - I mean the switchkins code.

maybe you could upload your changed files so i can exchange them? In some of the files the changes differed in some lines for example there was a change in line 544 but in my file the changed code was on line 567 (just some imaginary numbers).

Check out the patch file I uploaded on page 18. It shows the changes I made against the master branch.

my question woudt be is there a Switch that connects the Joints
so when i move only A the others follow on point to point
in Heidenhein the switch that connects and opens the point lock is a Mcode
on okuma its a Gcode
i cand find anything on that behavior on the kins of
xyzac-trt-kins
ofcause the TCP system

When G12.1 P1 is activated, so is TCP, and as such moving A will make the other axis move. Activating G12.1 P0 will disable TCP.

This is basically done by activating the forward and reverse kinematic functions for TCP or the forward and reverse functions for trivial kinematics.

Not sure this answers your question?

my question woudt be is there a Switch that connects the Joints
so when i move only A the others follow on point to point
in Heidenhein the switch that connects and opens the point lock is a Mcode
on okuma its a Gcode
i cand find anything on that behavior on the kins of
xyzac-trt-kins
ofcause the TCP system

there are some versions where you can switch kinematics with mcode but the big problem is the A,B and C axis has to be at zero or it will create following error.

with switchkins i have noticed that not only are the other axes being transformed but also when i manually turn the z axis motor axle then the other axes will move accordingly (i guess, have to build a "movement testing" machine to see if everything works how it should).

Check out the patch file I uploaded on page 18. It shows the changes I made against the master branch.

i will have a look, didnt see it first.

would it be possible to read the position of the center of rotation for the rotary axes from the .var file? this would be really awesome so i could write myself a routine which probes the real center of rotation and i dont have to fiddle around in the ini everytime the position changes.

3D-Master wrote:

my question woudt be is there a Switch that connects the Joints
so when i move only A the others follow on point to point
in Heidenhein the switch that connects and opens the point lock is a Mcode
on okuma its a Gcode
i cand find anything on that behavior on the kins of
xyzac-trt-kins
ofcause the TCP system

there are some versions where you can switch kinematics with mcode but the big problem is the A,B and C axis has to be at zero or it will create following error.

with switchkins i have noticed that not only are the other axes being transformed but also when i manually turn the z axis motor axle then the other axes will move accordingly (i guess, have to build a "movement testing" machine to see if everything works how it should).

Check out the patch file I uploaded on page 18. It shows the changes I made against the master branch.

i will have a look, didnt see it first.

would it be possible to read the position of the center of rotation for the rotary axes from the .var file? this would be really awesome so i could write myself a routine which probes the real center of rotation and i dont have to fiddle around in the ini everytime the position changes.

That is how our matsuura AC machine works.

There are 4 parameters

X center of rotation
Y center of rotation
Distance from the face of the table to the center of rotation.
Distance from spindle gauge line to center of rotation.

The control uses these parameter to calculate the position during TCP and tilting work plane operation.