I have setup 5 axis (XYZAC configuration).
Using QtDragon_HD GUI.
I have measured all offsets using 3D Probe.
And added all offsets in ini file.
When I switch to RTCP mode, Its working nice when I am using that 3D probe. All TCP movements are properly aligned.
But As soon as I change probe to other tool bit of different length. Toolpoint dont follow properly. (I think It needs same length).
I am using manual tool change. Tried measuring tool offsets, Changing tool table. Using G43 to update current tool offset. Nothing worked.
Can anyone guide me proper procedure for this. So that when I change tool, TCP dont misbehaves.
Please outline procedure with sample codes.
Here are settings for kinamatics which are working.
Code:
HALCMD = setp xyzac-trt-kins.x-rot-point -85.775
HALCMD = setp xyzac-trt-kins.y-rot-point -110.570
HALCMD = setp xyzac-trt-kins.z-rot-point -16.942
HALCMD = setp xyzac-trt-kins.y-offset 0
HALCMD = setp xyzac-trt-kins.z-offset -38.7445
This is my POSTGUI.HAL
Code:
# load components
########################################################################
loadrt logic names=logic-and personality=0x102
addf logic-and servo-thread
# load a summing component for adding spindle lift and Z compensation
loadrt scaled_s32_sums
addf scaled-s32-sums.0 servo-thread
loadusr -Wn z_level_compensation z_level_compensation
# method parameter must be one of nearest(2), linear(1), cubic (0)
setp z_level_compensation.fade-height 0.0
setp z_level_compensation.method 1
# connect signals
########################################################################
net spindle-speed-limited => spindle.0.speed-out-rps => spindle.0.speed-in
# the unlink pin commands are only used, because they are connected
# in core_sim.hal and we use this file to simulate
unlinkp iocontrol.0.tool-change
unlinkp iocontrol.0.tool-changed
unlinkp iocontrol.0.tool-prep-number
net tool-change hal_manualtoolchange.change <= iocontrol.0.tool-change
net tool-changed hal_manualtoolchange.changed <= iocontrol.0.tool-changed
net tool-prep-number hal_manualtoolchange.number <= iocontrol.0.tool-prep-number
net eoffset-clear axis.z.eoffset-clear
net eoffset-counts axis.z.eoffset-counts
setp axis.z.eoffset-scale .001
net eoffset-total axis.z.eoffset
net eoffset-total qtdragon.eoffset-value
setp axis.z.eoffset-enable True
## external offsets for spindle pause function
##################################################
net eoffset-clear qtdragon.eoffset-clear
net eoffset-spindle-count <= qtdragon.eoffset-spindle-count
net spindle-pause qtdragon.spindle-inhibit spindle.0.inhibit
net probe-input qtdragon.led-probe
## Z level compensation
####################################################
net eoffset-clr2 z_level_compensation.clear => logic-and.in-01
net xpos-cmd z_level_compensation.x-pos <= joint.0.motor-pos-cmd
net ypos-cmd z_level_compensation.y-pos <= joint.1.pos-cmd
net zpos-cmd z_level_compensation.z-pos <= joint.2.pos-cmd
net z_compensation_on z_level_compensation.enable-in <= qtdragon.comp-on
net eoffset-zlevel-count z_level_compensation.counts => qtdragon.eoffset-zlevel-count
net eoffset-spindle-count scaled-s32-sums.0.in0
net eoffset-zlevel-count scaled-s32-sums.0.in1
setp scaled-s32-sums.0.scale0 1000
net eoffset-counts scaled-s32-sums.0.out-s
#loadrt scale names=spindle_amp_scale
#addf scale.1 servo-thread
#setp scale.1.gain 9.6 # PWM per RPM, calculated over full scale. Example: 0-100 PWM, 12000 rpm: (100/12000) = 0.008333
#net spindle-amp-in spindle.0.speed-out => scale.1.in
net spindle-amp-scaled scale.1.out => qtdragon.spindle-amps
setp qtdragon.spindle-volts 48
What I am missing?
