Planning to Retrofit a Mazak Integrex200Y Mill-Turn Machine

jochen91
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14 Apr 2025 11:07 #326267 by jochen91

Replied by jochen91 on topic Planning to Retrofit a Mazak Integrex200Y Mill-Turn Machine

I had problems during the installation of linuxcnc irrc i had to manual mount the usb drive. how should i continue I'm a bit clueless

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Aciera
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14 Apr 2025 11:34 #326268 by Aciera

Replied by Aciera on topic Planning to Retrofit a Mazak Integrex200Y Mill-Turn Machine

You might have missed edit in the last post

I would start out with an unmodified 'xyzcb_tdr_kins.comp' and do the modifications in small steps while frequently 'halcompiling' the file to find out when it breaks.

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Aciera
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14 Apr 2025 13:38 #326274 by Aciera

Replied by Aciera on topic Planning to Retrofit a Mazak Integrex200Y Mill-Turn Machine

You are missing this line in your kinematic component:

    res += hal_pin_float_newf(HAL_IN ,&haldata->angleXX ,comp_id,"%s.angleXX" ,HAL_PREFIX);

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jochen91
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15 Apr 2025 07:16 - 15 Apr 2025 07:36 #326343 by jochen91

Replied by jochen91 on topic Planning to Retrofit a Mazak Integrex200Y Mill-Turn Machine

Hello Aciera,

yeah that was basically the problem. I could figure it out with your suggestion with the frequent halcompile way, but this was the culprit. Now it works and i started working on vismach.

I figured out how vismach works and started to modify an existing configuration. But in general its a bit of a pain.

I wonder if its possible to give feedback to the dev-Team in terms of new ideas?

I think it could be done easier, more comfortable and more accurate if it would be possible to export the already animated and set up machine out of Freecad and then just implement it into LCNC. Which would result in a proper machine simulation just as the big boys do it (siemens/fanuc etc.)

It is nice to import .obj and .stl but fitting them together is somehow a bit painful.

Even the documentation has a nice little note:

part = Capture() I have no idea what this does ! But it seems to be important for tool tip visualization…

But anyway, thank you so far for the great support!

Last edit: 15 Apr 2025 07:36 by jochen91.

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Aciera
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15 Apr 2025 07:39 #326344 by Aciera

Replied by Aciera on topic Planning to Retrofit a Mazak Integrex200Y Mill-Turn Machine

There isn't really a 'dev-team'. The vismach feature was added years ago by interested users. The documentation was written up some years later by somebody else who was not involved in creating the feature.
If you have the knowledge to prepare a pull request for what you have in mind then I'm sure there would be a fair bit of interest but if you hope for somebody else to do the programming then the chances are fairly slim.

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jochen91
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15 Apr 2025 11:14 #326345 by jochen91

Replied by jochen91 on topic Planning to Retrofit a Mazak Integrex200Y Mill-Turn Machine

I think you identified to problem

By trade I'm a power electronics engineer... so my programming skills are... well they can only be improved

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jochen91
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15 Apr 2025 19:56 #326404 by jochen91

Replied by jochen91 on topic Planning to Retrofit a Mazak Integrex200Y Mill-Turn Machine

I'm working on the Vismach implementation and while playing around i realized, that when i move the Y axis the X axis moves as well. So for so good. But the X-coordinate in Axis does not change.

(Forward Non TCP)
pos->tran.x =   j[0] + j[1] * cos(angle);
pos->tran.y = - j[1] * sin(angle);

(Inverted Non TCP)
j[0] =   pos->tran.x + pos->tran.y / tan(angle);
j[1] = - pos->tran.y / sin(angle);

Note:
X on the Mazak is head up and down in
Z on the Mazak is table left and right

But shouldn't it change? Why doesn't it ?

Kind regards,
Jochen

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Aciera
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15 Apr 2025 21:00 - 15 Apr 2025 21:31 #326409 by Aciera

Replied by Aciera on topic Planning to Retrofit a Mazak Integrex200Y Mill-Turn Machine

It's important to keep in mind that joints (machine movement) and axes (DRO values) are not the same thing. As the X axis is supposed to be perpendicular to the Y axis it would be somewhat strange for the X value to change when moving along Y.
Also note that the forward kinematic is only used to calculate the axis values from the joint home position right after homing and probably when switching kinematics. After that only the inverse kinematic model is used to calculate the joint positions for given axis values.

Last edit: 15 Apr 2025 21:31 by Aciera.

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jochen91
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17 Apr 2025 17:44 #326531 by jochen91

Replied by jochen91 on topic Planning to Retrofit a Mazak Integrex200Y Mill-Turn Machine

Hi Aciera,

thank for the input. Today I started to configure vismach, when i realized that my TCP moves seem off by quite a bit. Which leads me to the following questions:

With the Mazak Z axis is lying horizontal and X standing vertically. -> So i switched X and Z in my vismach model and everything's fine. But in TCP i realized that if i switch between normal and TCP my Z axis was moving left and right. Which had to do with the X/Y offsets for TCP. Witch made me lead to the conclusion, that in the TCP calculation the tool-offset need to be applied to X and not Z. Which than begs the question if the formulas for X and Z need to be switched completely.

So i started doubting everything and searched the forum. I found your XYZBC-TNR example which sadly i can't run right now because of some permission problems:

:0: execv(./vismach/xyzbc-tnr-gui.py): Permission denied

But I'm still not quite sold if i can copy the the TCP math from this example. With the Mazak the head is swiveling around Y (B-axis) in your example it's a dual table config.

I would be real glad if you could give me some input on:

- 5 - axis Kinematic with swiveling B axis head
- The X and Z axis switch debacle

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Aciera
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17 Apr 2025 18:26 #326535 by Aciera

Replied by Aciera on topic Planning to Retrofit a Mazak Integrex200Y Mill-Turn Machine

I have a sim config for a b-axis head / c axis table in my suite of twp-configs on my github site:
github.com/Sigma1912/LinuxCNC_Demo_Configs/tree/main

to test this you need to:

1. download and unpack the folder 'LinuxCNC_Demo_Configs-main'
2. from the unpacked folder copy the folder '5axis-twp' and paste it into your 'configs/sim' folder
3. right click->Properties->mark as executable the following files (otherwise you get the permission error you got):
- '5axis-twp/twp-helper-comp.py'
- '5axis-twp/vismach/xyzbc-trsr-gui.py'

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Planning to Retrofit a Mazak Integrex200Y Mill-Turn Machine

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