coordinate system and rotating

Hi Guys,

Maybe off topic, but i shouldn't know where else to post...

I was wondering, if it is in theory possible (G68 not supported yet, i thought) to define a rotated coordinate system with G-code? With this i could i could for example let my machine place a long shaft in a long hole. All i have to do then is add G-code to define de position and angle where i want to do so and the axial movement would be a simple G-code for a vertical movement. (see attached picture)

How should i do a workaround? Define a new/rotated kinematics module? Can i switch in HAL in runtime to another kinematics module?

Thanks, Bas

I'm currently working on a system for a client if mine where i have to load a drill (round 3 mm) in a clamp (under an angle of 15 degrees with the horizontal plane), and with an x-y system move the drill onder a grinding stone. In the future we would take out the manual inserting of the drill in the clamp.

We were thinking about a fanuc robot, but with some goot tweaking it i think it would be possible to make our own robot with EMC2. The robot should pick a drill, and load this in the machine.

The big advantage is that my client has experience with G-coding. So when he wants to tweak around, he could do it himself. (change the position where he wants to pick the drill etc.)

Bas

Sweet,

so my kinematics module holds the calculations for the x-y-z axes, and also the (other calculations) u-v-w axes. That means the rotations of the axes are hard coded?
Going to look at the 5axis sample.

I'm going to come back to this.

Thanks,
Bas