TCP 5-axis kinematics

Here are screenshots of 'G0 X0 Y0 Z-70 A0' in TCP:XYZAC kins.
I've also toggled to identity to show the actual positions.




The same for 'G0 X0 Y0 Z-70 A-20'



The same for 'G0 X0 Y0 Z-70 A20'

Hi,

Here are screenshots of joint positions in my DRO with z-rot-offset = -215 : 

 

 

 


Here are screenshots of joint positions in my DRO with z-rot-offset = +215 : 

 

 
 

Hello to all,

I have just made a machine type XYZBC table with the B axis parallel to the Y axis . my TCP is defined like this :

HALCMD = sets :z-offset 40.430 ( Pivot point B axis)

HALCMD = setp xyzbc-trt-kins.x-rot-point 398.954 
( value since the "X G53" axis )

HALCMD = setp xyzbc-trt-kins.y-rot-point 92.470
( value from the "Y G53" axis )

HALCMD = setp xyzbc-trt-kins.z-rot-point -268.73 
( value from the "X G53" axis -40.430 )
Z origin (G53) contact with the center of my C axis -228.3mm  

my kinematics function very in TCP (M428) in manual

 - Problem 1:
      - I do not understand why it is necessary for me to add to the -228.3mm the -40.430mm (value of the top you plate of the axis C to my center Pivot) whereas I declare it here:
HALCMD = sets :z-offset 40.430 ( Pivot point B axis).

if I don't make this addition the TCP movement is incorrect ( the spindle doesn't follow the moving point of the B axis.

- Problem 2:
when I post process my program the positions are not respected compared to the simulation. I don't know if this is due to the machine configuration or to my post processor.

In the image below, which simply shows the use of a chamfer around a rectangular part, we can see that the axis inclination is along the X axis (which cannot make a chamfer).




My question if someone can help me :
if my TCP is respected in manual mode ( the axes perfectly synchronized ) but that my TCP is not respected in program mode, it is only due to my machine configuration or to my post processor , or both ? 

I'm at the bottom of the hole because I made this machine and I can't find the right configuration. However I had the same machine in XYZAC which worked very well...

Thank you for your help if possible
 


 

Yes indeed, I only changed the letters in my post processor "Fusion 360". I do not know how to set it otherwise.
Here is what I changed in my post processor:

if (true) { // note: setup your machine here
    var bAxis = createAxis({coordinate:1, table:true, axis:[0, 1, 0], cyclic:true, range:[-95, 95], offset:[0,0,0], preference:0});
    var cAxis = createAxis({coordinate:2, table:true, axis:[0, 0, 1], cyclic:true, range:[-720, 720], offset:[0,0,0], preference:0});
    machineConfiguration = new MachineConfiguration(bAxis, cAxis);

    setMachineConfiguration(machineConfiguration);
    optimizeMachineAngles2(0); // TCP mode

I don't know if you know this type of post processor but just in case ?

Thanks

Hello,

Does anyone have an idea about my previous post?

Thanks