5-axis config - Tool change not working

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2 years 9 months ago #291674 by tommy
5-axis config - Tool change not working was created by tommy
What could be the reason that after T100M6G43 the following popup window doesn't show up:
[img


Tool table looks like this:
[img


As a reference I have configs/sim/axis/vismach/5axis/bridgemill, in which are two lines in INI that might be related to this problem (or not), For first line I'm receiving error on startup of Lcnc:
Code:
HALFILE = LIB:basic_sim.tcl -no_make_ddts -no_simulated_home -no_sim_spindle HALCMD  = net :kinstype-select <= motion.analog-out-03 => motion.switchkins-type
 

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2 years 9 months ago #291888 by tommy
Replied by tommy on topic 5-axis config - Tool change not working
I came to a point that Tn M6 G43 or even G43 Hn, takes tool from tool table (TLO Z: 100), but Tool Center Point doesn't shift form pivot_length to tool tip, so tool length is still not adopted by kinematics.
I checked this simply by jog B-axis for example where you can clearly see around which point it tilts.
In preview and simulation it shows as it works correctly, but on real machine it is not.

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2 years 9 months ago #291895 by Aciera
Replied by Aciera on topic 5-axis config - Tool change not working
The bridgemill kinematics expects the tool-z offset to be added to the pivot-length. In the sim config this is done in '5axisgui.hal':
Code:
# compute pivot-length needed for 5axiskins # according to gui pivot_len and tool z offset loadrt sum2 names=pivotsum addf pivotsum servo-thread net :gui-pivot-len <= 5axisgui.pivot_len net :gui-pivot-len => pivotsum.in0 net :tool-len <= motion.tooloffset.z net :tool-len => pivotsum.in1 net :tool-len => 5axisgui.tool_length net :pivot-len <= pivotsum.out net :pivot-len => 5axiskins.pivot-length
 If you do not use the vismach simulation window then remove this line from the above:
Code:
net :tool-len => 5axisgui.tool_length

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2 years 9 months ago #291979 by tommy
Replied by tommy on topic 5-axis config - Tool change not working
Exactly what was missing in my config! Thank you!

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