Switchable kinematics (switchkins) examples
07 Jun 2021 09:02 - 08 Jun 2021 07:15 #211407
by Aciera
Switchable kinematics (switchkins) examples was created by Aciera
I open this thread as a place to showcase the use of switchable kinematics or 'switchkins' and I would like to invite anybody using it to share their application. While I'm aware that this is likely to be used on more unusual machines I still think that this is opens up a lot of possibilities for the future.
Anybody wondering what I'm on about please see the documentation:
github.com/LinuxCNC/linuxcnc/blob/dgarr/...otion/switchkins.txt
or, if you feel like giving something back to the community, test the current branch and give us your feedback:
forum.linuxcnc.org/38-general-linuxcnc-q...witchable-kinematics
I'll start off with my industrial robot where being able to switch between cartesian and joint kinematics is essential. Without it Linuxcnc is useless for serial manipulators because of limitations in the inverse kinematic :
user-images.githubusercontent.com/460672...e1a-eaa703d26b18.mp4
Anybody wondering what I'm on about please see the documentation:
github.com/LinuxCNC/linuxcnc/blob/dgarr/...otion/switchkins.txt
or, if you feel like giving something back to the community, test the current branch and give us your feedback:
forum.linuxcnc.org/38-general-linuxcnc-q...witchable-kinematics
I'll start off with my industrial robot where being able to switch between cartesian and joint kinematics is essential. Without it Linuxcnc is useless for serial manipulators because of limitations in the inverse kinematic :
user-images.githubusercontent.com/460672...e1a-eaa703d26b18.mp4
Last edit: 08 Jun 2021 07:15 by Aciera. Reason: Add information and links, fix expired link to documentation
The following user(s) said Thank You: DPFlex
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07 Jun 2021 09:16 - 07 Jun 2021 09:23 #211408
by Aciera
Replied by Aciera on topic Switchable kinematics (switchkins) examples
Here is a simulation of a mill-turn application that I hope to implement on my mill in the future.
While it's possible to create separate configs for milling and turning it is not easily possible to use both inside the same gcode. With switchable kinematics its as easy as inserting an M code.
Please forgive the crudity of the tool visualization in vismach as it is somewhat limited.
user-images.githubusercontent.com/460672...7e5-3feea53609ca.mp4
Example Gcode used:
This kinematic has been created using the recently added userkins template:
linuxcnc.org/docs/html/man/man9/userkins.9.html
This template can be used to create switchable and non-switchable kinematics and can be installed like any other component using halcompile.
The kinematic used in the simulation is attached below.
While it's possible to create separate configs for milling and turning it is not easily possible to use both inside the same gcode. With switchable kinematics its as easy as inserting an M code.
Please forgive the crudity of the tool visualization in vismach as it is somewhat limited.
user-images.githubusercontent.com/460672...7e5-3feea53609ca.mp4
Example Gcode used:
Warning: Spoiler!
G21
G64
M429 (Turning)
G18 G8
G54
T01 M6 G43
G00 X20 Z10
G00 X13.5 Z1.0 S1000 M3
Z0.488
G94 G01 X-1.0 F500.0
Z0.975
G00 X0.383 Z1.269
X13.5
Z0.0
G01 X-1.0
Z0.488
G00 X0.383 Z0.782
X13.5
Z1.0
Z2.0
X11.237
G01 Z-34.973 F500.0
X12.2 Z-35.95
Z-37.95
X12.625
G00 X13.625 Z-36.95
Z2.0
X9.849
G01 Z-19.832
G00 X10.849 Z-18.832
Z2.0
X8.461
G01 Z-19.832
X9.849
G00 X10.849 Z-18.832
Z2.0
X7.073
G01 Z-10.296
G00 X8.073 Z-9.296
Z2.0
X5.685
G01 Z-8.784
G03 X7.073 Z-10.296 I-0.98513 K-2.29772
G00 X8.073 Z-9.296
Z2.0
X4.297
G01 Z-8.582
X4.7
G03 X5.685 Z-8.784 I-0.0 K-2.5
G00 X6.685 Z-7.784
Z2.0
X2.909
G01 Z-0.559
G00 X3.909 Z0.441
Z2.0
X1.521
G01 Z0.829
X2.909 Z-0.559
G00 X4.909 Z1.441
Z0.441
X2.909
G01 Z-0.559
X3.2 Z-0.85
Z-4.15
X2.909 Z-4.654
Z-8.11
G02 X4.2 Z-8.582 I1.29082 K1.52767
G01 X4.297
G00 X5.297 Z-7.582
Z-4.654
X3.909
G01 X2.909
X2.468 Z-5.418
G02 X2.2 Z-6.418 I1.73205 K-1.0
G01 Z-6.582
G02 X2.909 Z-8.11 I2.0 K0.0
G00 X3.909 Z-7.11
X7.073
Z-9.296
G01 Z-10.296
G03 X7.2 Z-11.082 I-2.3731 K-0.78638
G01 Z-11.382
G03 X7.073 Z-12.168 I-2.5 K0.0
G01 Z-19.832
X8.461
G00 X9.461 Z-18.832
Z-12.168
X8.073
G01 X7.073
G03 X6.485 Z-13.132 I-2.3731 K0.78638
G02 X5.685 Z-14.204 I3.57071 K-3.5
G01 Z-18.76
G02 X6.485 Z-19.832 I4.37094 K2.42793
G01 X7.073
G00 X8.073 Z-18.832
Z-14.204
X6.685
G01 X5.685
G02 X5.058 Z-16.482 I4.37075 K-2.42793
G02 X5.685 Z-18.76 I4.99775 K0.15
G00 X6.685 Z-17.76
X9.849
Z-18.832
G01 Z-19.832
X10.2
Z-20.132
X9.849 Z-20.74
Z-24.42
G00 X10.849 Z-23.42
Z-20.74
G01 X9.849
X8.787 Z-22.58
X9.849 Z-24.42
G00 X10.849 Z-23.42
X9.849
G01 Z-24.42
X10.2 Z-25.028
Z-27.328
G02 X9.849 Z-28.029 I5.70735 K-3.29514
G01 Z-32.917
G02 X11.214 Z-34.95 I6.0583 K2.594
G01 X11.237 Z-34.973
G00 X12.237 Z-33.973
Z-28.029
X10.849
G01 X9.849
G02 X9.319 Z-30.473 I6.05858 K-2.594
G02 X9.849 Z-32.917 I6.58858 K0.15
G00 X10.849 Z-31.917
Z-29.029
X11.237
Z2.0
X0.534 Z3.241
G01 X0.202 Z3.041 F150.0
G02 X1.081 Z0.919 I3.0 K0.0
G01 X3.0 Z-1.0
Z-4.0
X2.268 Z-5.268
G02 X2.0 Z-6.268 I1.73205 K-1.0
G01 Z-6.732
G02 X4.0 Z-8.732 I2.0 K0.0
G01 X4.5
G03 X6.285 Z-12.982 I-0.0 K-2.5
G02 Z-19.982 I3.57071 K-3.5
G01 X10.0
X8.5 Z-22.58
X10.0 Z-25.178
Z-27.178
G02 X11.014 Z-35.1 I5.70735 K-3.29514
G01 X12.0 Z-36.1
Z-38.1
G00 X15.0
Z10.0
(Milling)
M428
g55
T2 m6 G43
g21 g17 g64 g90
s3400 m3
g0 z10
g0 x5 y0
g2 x-5 y0 i-5 j0 z-1 f240
g2 x5 y0 i5 j0 z-2
g2 x-5 y0 i-5 j0 z-3
g2 x5 y0 i5 j0 z-4
g2 x-5 y0 i-5 j0 z-4
g0 z10
g0 a90
g0 x5 y0
g2 x-5 y0 i-5 j0 z-1 f240
g2 x5 y0 i5 j0 z-2
g2 x-5 y0 i-5 j0 z-3
g2 x5 y0 i5 j0 z-4
g2 x-5 y0 i-5 j0 z-4
g0 z10
g0 a180
g0 x5 y0
g2 x-5 y0 i-5 j0 z-1 f240
g2 x5 y0 i5 j0 z-2
g2 x-5 y0 i-5 j0 z-3
g2 x5 y0 i5 j0 z-4
g2 x-5 y0 i-5 j0 z-4
g0 z10
g0 a270
g0 x5 y0
g2 x-5 y0 i-5 j0 z-1 f240
g2 x5 y0 i5 j0 z-2
g2 x-5 y0 i-5 j0 z-3
g2 x5 y0 i5 j0 z-4
g2 x-5 y0 i-5 j0 z-4
g0 z10
g0 a360
g0 z100 x100
M2
%
G64
M429 (Turning)
G18 G8
G54
T01 M6 G43
G00 X20 Z10
G00 X13.5 Z1.0 S1000 M3
Z0.488
G94 G01 X-1.0 F500.0
Z0.975
G00 X0.383 Z1.269
X13.5
Z0.0
G01 X-1.0
Z0.488
G00 X0.383 Z0.782
X13.5
Z1.0
Z2.0
X11.237
G01 Z-34.973 F500.0
X12.2 Z-35.95
Z-37.95
X12.625
G00 X13.625 Z-36.95
Z2.0
X9.849
G01 Z-19.832
G00 X10.849 Z-18.832
Z2.0
X8.461
G01 Z-19.832
X9.849
G00 X10.849 Z-18.832
Z2.0
X7.073
G01 Z-10.296
G00 X8.073 Z-9.296
Z2.0
X5.685
G01 Z-8.784
G03 X7.073 Z-10.296 I-0.98513 K-2.29772
G00 X8.073 Z-9.296
Z2.0
X4.297
G01 Z-8.582
X4.7
G03 X5.685 Z-8.784 I-0.0 K-2.5
G00 X6.685 Z-7.784
Z2.0
X2.909
G01 Z-0.559
G00 X3.909 Z0.441
Z2.0
X1.521
G01 Z0.829
X2.909 Z-0.559
G00 X4.909 Z1.441
Z0.441
X2.909
G01 Z-0.559
X3.2 Z-0.85
Z-4.15
X2.909 Z-4.654
Z-8.11
G02 X4.2 Z-8.582 I1.29082 K1.52767
G01 X4.297
G00 X5.297 Z-7.582
Z-4.654
X3.909
G01 X2.909
X2.468 Z-5.418
G02 X2.2 Z-6.418 I1.73205 K-1.0
G01 Z-6.582
G02 X2.909 Z-8.11 I2.0 K0.0
G00 X3.909 Z-7.11
X7.073
Z-9.296
G01 Z-10.296
G03 X7.2 Z-11.082 I-2.3731 K-0.78638
G01 Z-11.382
G03 X7.073 Z-12.168 I-2.5 K0.0
G01 Z-19.832
X8.461
G00 X9.461 Z-18.832
Z-12.168
X8.073
G01 X7.073
G03 X6.485 Z-13.132 I-2.3731 K0.78638
G02 X5.685 Z-14.204 I3.57071 K-3.5
G01 Z-18.76
G02 X6.485 Z-19.832 I4.37094 K2.42793
G01 X7.073
G00 X8.073 Z-18.832
Z-14.204
X6.685
G01 X5.685
G02 X5.058 Z-16.482 I4.37075 K-2.42793
G02 X5.685 Z-18.76 I4.99775 K0.15
G00 X6.685 Z-17.76
X9.849
Z-18.832
G01 Z-19.832
X10.2
Z-20.132
X9.849 Z-20.74
Z-24.42
G00 X10.849 Z-23.42
Z-20.74
G01 X9.849
X8.787 Z-22.58
X9.849 Z-24.42
G00 X10.849 Z-23.42
X9.849
G01 Z-24.42
X10.2 Z-25.028
Z-27.328
G02 X9.849 Z-28.029 I5.70735 K-3.29514
G01 Z-32.917
G02 X11.214 Z-34.95 I6.0583 K2.594
G01 X11.237 Z-34.973
G00 X12.237 Z-33.973
Z-28.029
X10.849
G01 X9.849
G02 X9.319 Z-30.473 I6.05858 K-2.594
G02 X9.849 Z-32.917 I6.58858 K0.15
G00 X10.849 Z-31.917
Z-29.029
X11.237
Z2.0
X0.534 Z3.241
G01 X0.202 Z3.041 F150.0
G02 X1.081 Z0.919 I3.0 K0.0
G01 X3.0 Z-1.0
Z-4.0
X2.268 Z-5.268
G02 X2.0 Z-6.268 I1.73205 K-1.0
G01 Z-6.732
G02 X4.0 Z-8.732 I2.0 K0.0
G01 X4.5
G03 X6.285 Z-12.982 I-0.0 K-2.5
G02 Z-19.982 I3.57071 K-3.5
G01 X10.0
X8.5 Z-22.58
X10.0 Z-25.178
Z-27.178
G02 X11.014 Z-35.1 I5.70735 K-3.29514
G01 X12.0 Z-36.1
Z-38.1
G00 X15.0
Z10.0
(Milling)
M428
g55
T2 m6 G43
g21 g17 g64 g90
s3400 m3
g0 z10
g0 x5 y0
g2 x-5 y0 i-5 j0 z-1 f240
g2 x5 y0 i5 j0 z-2
g2 x-5 y0 i-5 j0 z-3
g2 x5 y0 i5 j0 z-4
g2 x-5 y0 i-5 j0 z-4
g0 z10
g0 a90
g0 x5 y0
g2 x-5 y0 i-5 j0 z-1 f240
g2 x5 y0 i5 j0 z-2
g2 x-5 y0 i-5 j0 z-3
g2 x5 y0 i5 j0 z-4
g2 x-5 y0 i-5 j0 z-4
g0 z10
g0 a180
g0 x5 y0
g2 x-5 y0 i-5 j0 z-1 f240
g2 x5 y0 i5 j0 z-2
g2 x-5 y0 i-5 j0 z-3
g2 x5 y0 i5 j0 z-4
g2 x-5 y0 i-5 j0 z-4
g0 z10
g0 a270
g0 x5 y0
g2 x-5 y0 i-5 j0 z-1 f240
g2 x5 y0 i5 j0 z-2
g2 x-5 y0 i-5 j0 z-3
g2 x5 y0 i5 j0 z-4
g2 x-5 y0 i-5 j0 z-4
g0 z10
g0 a360
g0 z100 x100
M2
%
This kinematic has been created using the recently added userkins template:
linuxcnc.org/docs/html/man/man9/userkins.9.html
This template can be used to create switchable and non-switchable kinematics and can be installed like any other component using halcompile.
The kinematic used in the simulation is attached below.
Attachments:
Last edit: 07 Jun 2021 09:23 by Aciera. Reason: Note about kinematics component
The following user(s) said Thank You: phillc54, tommylight
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14 Jul 2021 06:04 #214677
by Becksvill
Replied by Becksvill on topic Switchable kinematics (switchkins) examples
This looks so cool!.
I got a 6.2 metre travel cnc router I would like to turn into a 5 axis machine and glad to see the kinematics is getting some work
I got a 6.2 metre travel cnc router I would like to turn into a 5 axis machine and glad to see the kinematics is getting some work
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14 Jul 2021 06:13 - 14 Jul 2021 06:16 #214678
by Aciera
Replied by Aciera on topic Switchable kinematics (switchkins) examples
Is that a Biesse?
[edit]
Does is already have a B-axis spindle?
[edit]
Does is already have a B-axis spindle?
Last edit: 14 Jul 2021 06:16 by Aciera.
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14 Jul 2021 07:48 #214683
by Becksvill
Replied by Becksvill on topic Switchable kinematics (switchkins) examples
I don't think it has a B axis.
Its a biesse 24xt machine made in 2002
And currently has like 10 spindles I'll strip out.
Its a biesse 24xt machine made in 2002
And currently has like 10 spindles I'll strip out.
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16 Jul 2021 12:14 #215030
by andypugh
github.com/LinuxCNC/linuxcnc/blob/2e75b0...tion/emcmotcfg.h#L33
Replied by andypugh on topic Switchable kinematics (switchkins) examples
LinuxCNC supports up to 8 spindles, and it can be increased by a compile-time constant.And currently has like 10 spindles I'll strip out.
github.com/LinuxCNC/linuxcnc/blob/2e75b0...tion/emcmotcfg.h#L33
The following user(s) said Thank You: Aciera
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18 Aug 2021 08:52 #218049
by Becksvill
Replied by Becksvill on topic Switchable kinematics (switchkins) examples
Aciera
I have taken this machine apart now and started to get it all working.
the machine does have a b axis on the spindle not sure what I will use it for but i guess that a saw blade might be good.
i am pretty keen to set up a 4th axis and rotating spindle for 5 axis stuff on this big machine. and switchable kinematics is a must i think. lots of learning to do. hopefully i will get time to set up the machine as a 3 axis machine first in the next couple of weeks and then i can have a play with cooler stuff after that
regards
Andrew
I have taken this machine apart now and started to get it all working.
the machine does have a b axis on the spindle not sure what I will use it for but i guess that a saw blade might be good.
i am pretty keen to set up a 4th axis and rotating spindle for 5 axis stuff on this big machine. and switchable kinematics is a must i think. lots of learning to do. hopefully i will get time to set up the machine as a 3 axis machine first in the next couple of weeks and then i can have a play with cooler stuff after that
regards
Andrew
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18 Aug 2021 09:19 #218053
by Aciera
Replied by Aciera on topic Switchable kinematics (switchkins) examples
Is it a motorized b axis or indexed? If it can hold a mill bit you can do all kinds of handy stuff with it.
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18 Aug 2021 09:23 #218056
by Becksvill
Replied by Becksvill on topic Switchable kinematics (switchkins) examples
its motorised
it has a 400w yaskawa servo drive on it to rotate it. what kind of attachments do they normally run?
i am having trouble working out how it was supposed to be used
it has a 400w yaskawa servo drive on it to rotate it. what kind of attachments do they normally run?
i am having trouble working out how it was supposed to be used
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18 Aug 2021 09:34 - 18 Aug 2021 09:42 #218058
by Aciera
Also simple things like dowel holes or cutouts into slanted or vertical surfaces. And of course cutting miter joints with a saw blade. Doorlocks, hinges, lots of stuff. With 5 axis TCP and switchable kinematics the uses are very varied.
Replied by Aciera on topic Switchable kinematics (switchkins) examples
Also simple things like dowel holes or cutouts into slanted or vertical surfaces. And of course cutting miter joints with a saw blade. Doorlocks, hinges, lots of stuff. With 5 axis TCP and switchable kinematics the uses are very varied.
Attachments:
Last edit: 18 Aug 2021 09:42 by Aciera.
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