TCP 5-axis kinematics

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10 Apr 2018 08:46 #108718 by andypugh
Replied by andypugh on topic TCP 5-axis kinematics
I am curious about why you need to switch kinematics. Is this simply to allow the use of both TCP and conventional rotary-axis toolpaths?

My approach would probably have been to have two configs in the same folder, one for conventional and one with TCP kins, sharing everything but kinematics.

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10 Apr 2018 09:08 - 10 Apr 2018 10:03 #108719 by jsskangas
Replied by jsskangas on topic TCP 5-axis kinematics
I need to run normal 3+2 indexing operations and full 5-axis operation mixed in one program.
Too much work to shutdown machine and restart it with another setup...
Im too lacy for that.
Last edit: 10 Apr 2018 10:03 by jsskangas.

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10 Apr 2018 17:27 #108765 by robh
Replied by robh on topic TCP 5-axis kinematics
thanks for sharing all the info, i hope to soon have a play around with it when i get a quite day(s)

andy.like wise here also..
plus when you have run other controls and get used to a simple on off function like G43.5 or what ever your control may imploy you realy dont want to run any other way..

i find here alot of work is 3+2 normaly end up doing a little 5th work to get a finish or some hard to reach wall, as we all know what designers are like with parts now days..!

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14 Apr 2018 15:02 #108998 by jsskangas
Replied by jsskangas on topic TCP 5-axis kinematics
Ok, I finished impeller today.
Now i can say more about 5-axis capabilities.
I got rid of most of jerk by limiting rotary axis acceleration.
Now linears don't need to do make too fast compensation movements, this did not affect too much on performance.



Surface quality was better than I expected.


Here is video of nc-code simulation:
Attachments:

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14 Apr 2018 15:16 #109000 by andypugh
Replied by andypugh on topic TCP 5-axis kinematics
Very nice.
The following user(s) said Thank You: jsskangas

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14 Apr 2018 16:00 #109001 by jsskangas
Replied by jsskangas on topic TCP 5-axis kinematics
Here is video of blade finishing:

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20 Apr 2018 16:22 - 20 Apr 2018 18:32 #109348 by allwinedesigns
Can anyone explain the changes that were made in LinuxCNC 2.8 that made switching between kinematics modes possible? I'm using MachineKit, which hasn't ported those changes and I'd like to be able to implement enabling/disabling tool center point control as described in this thread.
Last edit: 20 Apr 2018 18:32 by allwinedesigns.

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21 Apr 2018 05:18 #109368 by jsskangas
Replied by jsskangas on topic TCP 5-axis kinematics
I think that separation of joints and axes is the one.

Easiest way would be to use linuxcnc instead of machinekit.
There are small powerful motherboards available.

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21 Apr 2018 15:49 #109396 by andypugh
Replied by andypugh on topic TCP 5-axis kinematics

allwinedesigns wrote: Can anyone explain the changes that were made in LinuxCNC 2.8 that made switching between kinematics modes possible?


I am not sure if the 2.8 changes are necessary for kinematics switching to work. It might work equally well in 2.7 or Machinekit. The cleverness (as I recall it, without re-reading the thread) was in the actual kinematics module.

If you wanted to port the Joints-Axes branch changes to Machinekit I think you would have a big task. It changed just about every file, in major ways.

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24 May 2018 14:06 #111080 by 819132306
Replied by 819132306 on topic TCP 5-axis kinematics
Hello,
jsskangas.
You have switched between RTCP and 3+2 machining modes on LINUXCNC without restarting LINUXCNC.
This is very cool.

I want to construct the following two structures of 5 axis kinematics.
But I don't know much about this homogeneous transformation.







Only the table-table structure is in the linuxcnc help documentation.
linuxcnc.org/docs/ja/html/motion/5-axis-..._axis_configurations

Looking forward to your reply
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