Limits and default axis position
- Duatepe
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16 Jan 2024 07:10 #290833
by Duatepe
Limits and default axis position was created by Duatepe
Hello everyone,
I will talk about simulation example and my CNC configuration and problems
I attached the file. My question is
I load the impeller-7bl-xyzac.ngc file to my application according to CNC hardware.
I make the limits -1E99 and 1E99 load the file then program is working and I can see on display and on machine simulation also hardware is ok which I unlinked the several pins to be able to work on hardware.
If I configure the ini file according the machine borders (MIN_LIMIT and MAX_LIMIT) then I am getting joint 2 positive limit error.
Actually this simulation program(sim.axis.vismach.5axis.table-rotary-tilting) limits different then my machine.
I tried touchoff then I got joint 2 positive limit error. I cant run the program directly because my 0 position different then the simulation machine.
its limits like -200 +200 my limits like 0 470 and this create the problem. And I make touch off in this case simulation machine joints is going different location and seems wierd. I hope I could explain the condition clearly.
I will talk about simulation example and my CNC configuration and problems
I attached the file. My question is
I load the impeller-7bl-xyzac.ngc file to my application according to CNC hardware.
I make the limits -1E99 and 1E99 load the file then program is working and I can see on display and on machine simulation also hardware is ok which I unlinked the several pins to be able to work on hardware.
If I configure the ini file according the machine borders (MIN_LIMIT and MAX_LIMIT) then I am getting joint 2 positive limit error.
Actually this simulation program(sim.axis.vismach.5axis.table-rotary-tilting) limits different then my machine.
I tried touchoff then I got joint 2 positive limit error. I cant run the program directly because my 0 position different then the simulation machine.
its limits like -200 +200 my limits like 0 470 and this create the problem. And I make touch off in this case simulation machine joints is going different location and seems wierd. I hope I could explain the condition clearly.
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- Aciera
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16 Jan 2024 08:37 #290841
by Aciera
Replied by Aciera on topic Limits and default axis position
have you configured the position of the rotary assembly in the ini?
# not currently supported by xyzac-trt-gui:
HALCMD = setp xyzac-trt-kins.x-rot-point 0
HALCMD = setp xyzac-trt-kins.y-rot-point 0
HALCMD = setp xyzac-trt-kins.z-rot-point 0
As indicated, the vismach simulation currently does not work properly for a different machine reference point.
Also, as you have probably found out by now, axis-limits are not adjusted for non trivial kinematic, joint-limits are respected but the machine will not decelerate within the limits set in the ini.
# not currently supported by xyzac-trt-gui:
HALCMD = setp xyzac-trt-kins.x-rot-point 0
HALCMD = setp xyzac-trt-kins.y-rot-point 0
HALCMD = setp xyzac-trt-kins.z-rot-point 0
As indicated, the vismach simulation currently does not work properly for a different machine reference point.
Also, as you have probably found out by now, axis-limits are not adjusted for non trivial kinematic, joint-limits are respected but the machine will not decelerate within the limits set in the ini.
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16 Jan 2024 09:13 #290844
by Duatepe
Replied by Duatepe on topic Limits and default axis position
This sentence is not clear much for me ->
"Also, as you have probably found out by now, axis-limits are not adjusted for non trivial kinematic, joint-limits are respected but the machine will not decelerate within the limits set in the ini."
Now I tried different .ngc file but not support 5 axis which is working good. After that I load the " impeller-7bl-xyzac.ngc" I got the error "Linear move on line 7 would exceed joint 2's positive limit".
So How can I find a .ngc file which I will try the machine with 5 axis.
Still everything is not clear. Normally this .ini file has been arranged post-developer before me and I found my self directly in CNC machine and concept. Please when you write also consider about my this situation. Thanks in advance for your help.
"Also, as you have probably found out by now, axis-limits are not adjusted for non trivial kinematic, joint-limits are respected but the machine will not decelerate within the limits set in the ini."
Now I tried different .ngc file but not support 5 axis which is working good. After that I load the " impeller-7bl-xyzac.ngc" I got the error "Linear move on line 7 would exceed joint 2's positive limit".
So How can I find a .ngc file which I will try the machine with 5 axis.
Still everything is not clear. Normally this .ini file has been arranged post-developer before me and I found my self directly in CNC machine and concept. Please when you write also consider about my this situation. Thanks in advance for your help.
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16 Jan 2024 12:14 #290857
by Aciera
Replied by Aciera on topic Limits and default axis position
The motion planner currently only checks for 'axis' limits not 'joint' limits, also it is totally unaware of any custom kinematics that may rotate the coordinate system. Hence the 'axis' limits often need to be relaxed in the ini file to avoid false 'axis' limit violations.
But since you are getting 'joint' limit violations that is likely not the cause of your problem.
You mentioned that your machine reference point is not in the center of your rotary assembly (ie not like in the vismach simulation). If that is the case then you would need to set the postion of the rotary point of your assembly (as measured in absolute coordinates) in the ini file as indicated in my post above other wise the kinematic will simply be wrong and that may well be the cause of your joint limit errors.
But since you are getting 'joint' limit violations that is likely not the cause of your problem.
You mentioned that your machine reference point is not in the center of your rotary assembly (ie not like in the vismach simulation). If that is the case then you would need to set the postion of the rotary point of your assembly (as measured in absolute coordinates) in the ini file as indicated in my post above other wise the kinematic will simply be wrong and that may well be the cause of your joint limit errors.
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16 Jan 2024 12:52 #290863
by Duatepe
Replied by Duatepe on topic Limits and default axis position
I changed the several values
Joint 0-1-2 FERROR = 1E99
Joint 2 MIN and MAX limits = +-1E99
Joint 3 MIN and MAX limits = +-1E99
Program is running but is it ok I dont know because of just ignore these values.
Joint 0-1-2 FERROR = 1E99
Joint 2 MIN and MAX limits = +-1E99
Joint 3 MIN and MAX limits = +-1E99
Program is running but is it ok I dont know because of just ignore these values.
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16 Jan 2024 13:04 #290866
by Aciera
Replied by Aciera on topic Limits and default axis position
a wrong FERROR should not hurt your machine but the joint MIN/MAX values should reflect those of your machine or you may have unpleasant surprises. I would expect the CAM package/post processor to be capable to output gcode that respects the joint limits of the particular machine.changed the several values
Joint 0-1-2 FERROR = 1E99
Joint 2 MIN and MAX limits = +-1E99
Joint 3 MIN and MAX limits = +-1E99
Program is running but is it ok I dont know because of just ignore these values.
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