TCP 5-axis kinematics

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?

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.

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

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

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

I tested your branch with me. That was exactly what I was looking for, thank you very much.
I was wondering if there is a possibility to turn the direction of rotation of the A-axis, if so in which file can I do this?
X/Y/Z/A/C

Hello ,

I set up a 5-axis xyzac-type machine in TCP, the switchkins work very well (M428 / M429 / M430) the switch to Trivkins mode -> xyzac-trt-kins goes well.

On the other hand, the parent axes in any direction.
Even when changing values if below the movement is always the same and inconsistent

net: kinstype-select <= motion.analog-out-03
net: kinstype-select => motion.switchkins-type

net: tool-offset motion.tooloffset.z xyzac-trt-kins.tool-offset
setp xyzac-trt-kins.x-offset 0
setp xyzac-trt-kins.y-offset 0
setp xyzac-trt-kins.z-offset -40

setp xyzac-trt-kins.x-rot-point 163.497
setp xyzac-trt-kins.y-rot-point 265.305
setp xyzac-trt-kins.z-rot-point -169

Can you help me please I can't understand?
attached my .ini / .hal files

thank you in advance

Hi everyone.
I could complete what i wanted to have my own 5 axis machine thanks you to everyone.

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