TCP 5-axis kinematics

Hello

"I stay use in Dgarret/s-kins the example xyzbc-switchkins configuration."


Last time I took a look those, Kinematics where not complete, rotary point implementation has not done to BC kins.
ln AC kins rot point is ok.

I’ll reply to your last post later, unless someone gets ahead of me sooner.

Just wanted to point out that I updated my last post ... please read it again.

It’s been a while and I’m speaking from memory.

papagno-source wrote: I would like further clarification regarding the values of x.rot.point, y.rot.point, z.rot.point.
the my machine when have ref ok executed, have axis X at 300mm left the B center rotation, Y 350mm in positive direction the Y (door machine direction) and Z axis at 700 mm (nose spindle) up B center rotation.

When you say "have ref ok executed" do you mean that you homed the machine?

When you say "axis X at 300mm left the B center rotation, Y 350mm in positive direction the Y (door machine direction) and Z axis at 700 mm (nose spindle) up B center rotation", do you mean that your G53 offset values at B Center of rotation are X 300, Y 350 and Z 700? if yes then yes to the below :

papagno-source wrote: in this case X.rot.point have value 300
Y.rot.point have value 350 mm
and Z.rot.point have 700 mm?

Hi.

Thanks for reply.
Sorry my English. I meant when the machine is homed on every axis.

Ok for now i wait the fix XYZBC switchkin , because JSSKANGAS said that that is not complete, it not have x,y,z,rot.point implementation.

But i Thing for some test : if i write in ini file in HOME_OFFSET the value the distance the every axis restect B centre (Home_offset on Joint0 = 300,Home_offset on Joint 1 = 350, Home offset joint 2 = 700), the machine when executed home procedure, after have read the zero mark the linear scale , positionig axis on Home offset value and machine move on centre the B axis)

I will do some tests, I hope that JSSKANGAS can help us to implement the x.y.z rot.point in the XYZBC switchkin soon.

Thanks for your advice

Hello

Did you read my earlier post?

"But working ones That I have made for BC machine can be found and downloaded from this thread.
You can find these packets from Page 5, initial and Page 8, some update.

Please read pages 4-9 there are my posts that that has need to know info how to implement those."

I have BC machine running with TCP.
Page 5 in this topic you will find attachment where is working BC kinematic .c file.

Ok thanks have read it and will test this switchkin file and your configuration.

One question .

at present, when I have to activate or deactivate TCP, do I have to do it with the axis positions of B = 0 and c = 0?

Thanks