TCP 5-axis kinematics
17 Jul 2022 14:09 #247565
by jjdege
Replied by jjdege on topic TCP 5-axis kinematics
Hi andypugh
Thank you for your reply and sorry for the delay, I have dedicated some time to solving the problem.
I state that I have an EtherCAT controller, the EpoCAT FR1000, and the problem was that the C axis followed the other axes and did not move simultaneously, so the machining was deformed, I set the PID appropriately and the axis C moves simultaneously and now it works!
I insert the link of the video I made.
thanks to plopes 9000
hello everyone from Italy and thanks for the precious support
Thank you for your reply and sorry for the delay, I have dedicated some time to solving the problem.
I state that I have an EtherCAT controller, the EpoCAT FR1000, and the problem was that the C axis followed the other axes and did not move simultaneously, so the machining was deformed, I set the PID appropriately and the axis C moves simultaneously and now it works!
I insert the link of the video I made.
thanks to plopes 9000
hello everyone from Italy and thanks for the precious support
The following user(s) said Thank You: tommylight, Clive S
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03 Aug 2022 23:57 #248989
by sliptonic
I'm also playing with the DWO configuration that plopes9000 did (back on page 16 of this monster thread). I have it working, mostly. If I jog the A axis and do the G55.4 command, the next move is exactly where I would expect it. But if I jog the C axis, the next move is clearly wrong. I suspect that the math in dwo_on.ngc is being calculated with reversed direction of rotation.
Can anyone else confirm this? Is there an updated dwo_on.ngc that I missed?
Replied by sliptonic on topic TCP 5-axis kinematics
I've configured my rotary table with XYZAC-TRT switchkins. I'm able to switch to the TCP mode and it seems to work as advertised. Very cool!Here's my update regarding the 5 axis.
Just before I went on vacation and since I arrived back, I have been working on a complete workflow for 5 axis.
With TCP but without an easy to use 3+2 setup its still a pain to rough out before the TCP operation.
Enter Dynamic Work Offsets - see Haas DWO G254 - link .
I'm also playing with the DWO configuration that plopes9000 did (back on page 16 of this monster thread). I have it working, mostly. If I jog the A axis and do the G55.4 command, the next move is exactly where I would expect it. But if I jog the C axis, the next move is clearly wrong. I suspect that the math in dwo_on.ngc is being calculated with reversed direction of rotation.
Can anyone else confirm this? Is there an updated dwo_on.ngc that I missed?
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23 Aug 2022 15:18 - 27 Aug 2022 15:48 #250261
by mittim
Replied by mittim on topic TCP 5-axis kinematics
In which file of the kinematics directory is the calculation done for TCP when using xyzac-trt-kins ? Is it "trtfuncs.c" with its functions "xyzacKinematicsForward" and "xyzacKinematicsInverse"?
Edit: yes, it is.
Edit: yes, it is.
Last edit: 27 Aug 2022 15:48 by mittim.
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27 Aug 2022 16:27 #250582
by mittim
Replied by mittim on topic TCP 5-axis kinematics
I managed to adapt the trtfuncs.c file to my needs. With that, the kinematics module compensates for the offset dy and still works in trivial kinematics. I wanted to share that and maybe it will be useful for someone else in the future.
Thanks for everyone´s help again!
Thanks for everyone´s help again!
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03 Dec 2022 20:07 #258450
by JackRay
Replied by JackRay on topic TCP 5-axis kinematics
Hello ,
I need your help ☺
I just changed the orientation of my AC rotary table . The A axis was parallel to the X axis and now it is parallel to the Y axis.
Of course my kinematics does not work anymore .
I had a xyzac-trt configuration that worked very well when A was rotating around X.
I don't understand well the documentation. Should I take a xyzab-trt configuration so that the configuration ( A turns around Y ) for my configuration to work .
Thanks for your help
I need your help ☺
I just changed the orientation of my AC rotary table . The A axis was parallel to the X axis and now it is parallel to the Y axis.
Of course my kinematics does not work anymore .
I had a xyzac-trt configuration that worked very well when A was rotating around X.
I don't understand well the documentation. Should I take a xyzab-trt configuration so that the configuration ( A turns around Y ) for my configuration to work .
Thanks for your help
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04 Dec 2022 10:12 #258491
by rodw
Replied by rodw on topic TCP 5-axis kinematics
We just put this together in the last few days. You can try it XYZAB-trt config
forum.linuxcnc.org/10-advanced-configura...tics-for-xyzab-mill\
Give it a try, it would be good for it to be tested on real hardware. Pleas ask questions on the other thread.
forum.linuxcnc.org/10-advanced-configura...tics-for-xyzab-mill\
Give it a try, it would be good for it to be tested on real hardware. Pleas ask questions on the other thread.
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04 Dec 2022 10:22 #258493
by Aciera
configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini
that uses
xyzbc-trt-kins
Replied by Aciera on topic TCP 5-axis kinematics
That would turn your machine from a XYZAC-trt to a XYZBC-trt there is already such a kinematic in LinuxCNC have a look atI just changed the orientation of my AC rotary table . The A axis was parallel to the X axis and now it is parallel to the Y axis.
configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini
that uses
xyzbc-trt-kins
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04 Dec 2022 17:23 #258517
by JackRay
Replied by JackRay on topic TCP 5-axis kinematics
Hello,
I have indeed configured the xyzbc-trt kinematics, made my pivot point and everything works correctly.
Now I don't have an A axis but a B axis, this is a problem for me for post processor which gives me G programs with an A axis.
Can I change the designation of the B axis to A axis in Lcnc 2.9 while keeping my xyzbc-trt configuration?
Thanks for your help
I have indeed configured the xyzbc-trt kinematics, made my pivot point and everything works correctly.
Now I don't have an A axis but a B axis, this is a problem for me for post processor which gives me G programs with an A axis.
Can I change the designation of the B axis to A axis in Lcnc 2.9 while keeping my xyzbc-trt configuration?
Thanks for your help
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04 Dec 2022 18:31 #258522
by rodw
Replied by rodw on topic TCP 5-axis kinematics
There is not really any easy solution. If you've changed your machine's kinematics, you need to be generating gcode from your cam that suits your machine.
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04 Dec 2022 18:49 - 04 Dec 2022 18:53 #258523
by Aciera
Replied by Aciera on topic TCP 5-axis kinematics
The axes need to correspond to the kinematic. Can't you swap the X and Y axes and move back to xyzac-trt kinematics?
The only other solution I can think of is an 'filter script' that replaces the 'A' letters in the gcode with a 'B'. I haven't used an input filter myself but I think you could write a script (eg python, bash) and have it do it's magic to the gcode file as you load it into linuxcnc.
linuxcnc.org/docs/devel/html/gui/filter-programs.html
[edit]
Or of course you could modify the actual kinematic file written in C and recompile linuxcnc
The only other solution I can think of is an 'filter script' that replaces the 'A' letters in the gcode with a 'B'. I haven't used an input filter myself but I think you could write a script (eg python, bash) and have it do it's magic to the gcode file as you load it into linuxcnc.
linuxcnc.org/docs/devel/html/gui/filter-programs.html
[edit]
Or of course you could modify the actual kinematic file written in C and recompile linuxcnc
Last edit: 04 Dec 2022 18:53 by Aciera.
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