Dynamic work Offset in 5-Axis XYZAC

akg1904
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3 years 3 months ago #275898 by akg1904

Dynamic work Offset in 5-Axis XYZAC was created by akg1904

Hi,

Recently I was able to crack down on the proper 5-Axis XYZAC setup for my CNC machine.
Now when I was going through some other features of 5-Axis machine, I came across concept called Dynamic Work Offset(DWO) as shown in link .
When I was going through the forum for the same, I found out a post on DWO ( link ) where @plopes9000 talks about it, but I could not find the proper detail or documentation on it.
Has anyone implemented DWO? If yes, can you please help me with it.

Thanks in advance.

Regards
Abhishek

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Aciera
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3 years 3 months ago #275907 by Aciera

Replied by Aciera on topic Dynamic work Offset in 5-Axis XYZAC

To implement the DWO as presented in the thread you linked you have to enter the relevant geometric offsets in your ini file and then add the two remaps.
Have a look at the two ngc remap files and the ini setup in this post
forum.linuxcnc.org/10-advanced-configura...ics?start=150#143582
Once that is done you should be able activate DWO by calling the Gcode (eg G55.4) and an additional G52 offset is added to the current work offset position using current A anc C rotary positions.

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spumco
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3 years 3 months ago #275911 by spumco

Replied by spumco on topic Dynamic work Offset in 5-Axis XYZAC

plopes9000 kindly posted his entire config on his github page when I asked him for assistance on my ATC config. I didn't use his config - too complicated for me - but his DWO macros are in it.

I just checked GH, and I believe it has since been removed. I've got a copy of everything, but if he took it down I'm not sure it'd be polite to attach everything without verifying with him first.

He responded to a comment I made on one of his YT vids, so you might try that or on his GH page.

Moderators: If the consensus is it's OK (polite, not just legal) to post his config here - copied from his public GH page - then I'll be happy to.

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akg1904
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3 years 3 months ago #275943 by akg1904

Replied by akg1904 on topic Dynamic work Offset in 5-Axis XYZAC

Hi,

Thanks for all your replies @ Aciera and @ spumco.

@ spumco if possible can you please attach the link of his YT videos and GH or your INI file on how you included X,Y,Z offset.
By the time I will try with details shared by @ Aciera.

Regards
Abhishek

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spumco
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3 years 3 months ago #275950 by spumco

Replied by spumco on topic Dynamic work Offset in 5-Axis XYZAC

I was mistaken about the config being pulled from GH. It's still there:

github.com/plopes9000/linuxCNC-2.9.0pre-...c-config/tree/master

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akg1904
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3 years 3 months ago #276129 by akg1904

Replied by akg1904 on topic Dynamic work Offset in 5-Axis XYZAC

Hi,

Thank you spumco for sharing the link.

I made the changes as shown in plopes9000 ini files, but for some reason the G55.4 and G55.5 remap is not working.
It shows error when I load a ngc file using the G55.4 and G55.5, the error says.

"Named parameter #<ini[xyzac_kins]x-rot-point> not defined"

I am also attaching my INI file for reference.

Attachment not found

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Aciera
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3 years 3 months ago #276143 by Aciera

Replied by Aciera on topic Dynamic work Offset in 5-Axis XYZAC

I missed the part that needs to be added to the hal. Doing the following seems to work for me:

1. Add these lines to your 'switchkins_postgui.hal':

Warning: Spoiler!

2. Alter your ini to this:

Warning: Spoiler!

[APPLICATIONS]
# uncomment to enable:
#APP = halshow --fformat %.5f switchkins.halshow

[EMC]
VERSION = 1.1
MACHINE = sim-xyzac-trt-kins (switchkins)

[DISPLAY]
            GEOMETRY = XYZ-A
           OPEN_FILE = ./demos/xyzac_switchkins.ngc
               PYVCP = ./xyzac-trt.xml
            JOG_AXES = XYZC
             DISPLAY = axis
MAX_ANGULAR_VELOCITY = 360
MAX_LINEAR_VELOCITY = 1000
     POSITION_OFFSET = RELATIVE
   POSITION_FEEDBACK = ACTUAL
   MAX_FEED_OVERRIDE = 2
      PROGRAM_PREFIX = ../../nc_files
       INTRO_GRAPHIC = emc2.gif
          INTRO_TIME = 1
             #EDITOR = geany
         TOOL_EDITOR = tooledit z diam

               TKPKG = Ngcgui 1.0
         NGCGUI_FONT = Helvetica -12 normal
      NGCGUI_SUBFILE = xyzac_switchkins_sub.ngc
      NGCGUI_SUBFILE = centering.ngc

[RS274NGC]
SUBROUTINE_PATH = ./remap_subs
   HAL_PIN_VARS = 1
          REMAP = M428 modalgroup=10 ngc=428remap
          REMAP = M429 modalgroup=10 ngc=429remap
          REMAP = M430 modalgroup=10 ngc=430remap
          REMAP = G55.4 modalgroup=1   ngc=dwo_on
          REMAP = G55.5 modalgroup=1   ngc=dwo_off
PARAMETER_FILE = xyzac.var

[KINS]
#NOTE: for backwrds compatibility !!!!!!!!!!!!!!!!!!!
#      default switchkins-type == 0 is xyzac-trt-kins
#      here    switchkins-type == 0 is identity kins
KINEMATICS = xyzac-trt-kins sparm=identityfirst
    JOINTS = 5

[XYZAC_KINS]
Y-OFFSET = -0.15
Z-OFFSET = -27.59
X-ROT-POINT = 407.565
Y-ROT-POINT = 154.229
Z-ROT-POINT = -225.9

[HAL]
          HALUI = halui
        HALFILE = LIB:basic_sim.tcl
POSTGUI_HALFILE = switchkins_postgui.hal

# net for control of motion.switchkins-type
HALCMD = net :kinstype-select <= motion.analog-out-03 => motion.switchkins-type

# vismach xyzac-trt-gui items
HALCMD = loadusr -W xyzac-trt-gui
HALCMD = net :table-x      joint.0.pos-fb             xyzac-trt-gui.table-x
HALCMD = net :saddle-y     joint.1.pos-fb             xyzac-trt-gui.saddle-y
HALCMD = net :spindle-z    joint.2.pos-fb             xyzac-trt-gui.spindle-z
HALCMD = net :tilt-a       joint.3.pos-fb             xyzac-trt-gui.tilt-a
HALCMD = net :rotate-c     joint.4.pos-fb             xyzac-trt-gui.rotate-c
HALCMD = net :tool-offset motion.tooloffset.z
HALCMD = net :tool-offset xyzac-trt-kins.tool-offset xyzac-trt-gui.tool-offset
#HALCMD = net :y-offset     xyzac-trt-kins.y-offset    xyzac-trt-gui.y-offset
#HALCMD = net :z-offset     xyzac-trt-kins.z-offset    xyzac-trt-gui.z-offset
#HALCMD = sets :y-offset     20
#HALCMD = sets :z-offset     10

# 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

[HALUI]
# NOTE: kinstype==0 is identity kins because sparm=identityfirst
# M429:identity kins (motion.switchkins-type==0 startupDEFAULT)
# M428:xyzac    kins (motion.switchkins-type==1)
# M430:userk    kins (motion.switchkins-type==2)
MDI_COMMAND = M429
MDI_COMMAND = M428
MDI_COMMAND = M430

[TRAJ]
                COORDINATES = XYZAC
               LINEAR_UNITS = mm
              ANGULAR_UNITS = deg
    DEFAULT_LINEAR_VELOCITY = 20
        MAX_LINEAR_VELOCITY = 35
    MAX_LINEAR_ACCELERATION = 400
DEFAULT_LINEAR_ACCELERATION = 300

[EMCMOT]
      EMCMOT = motmod
SERVO_PERIOD = 1000000
COMM_TIMEOUT =       1

[TASK]
      TASK = milltask
CYCLE_TIME = 0.010

[EMCIO]
     EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = xyzac-trt.tbl

[AXIS_X]
       MIN_LIMIT = -200
       MAX_LIMIT = 200
    MAX_VELOCITY =   20
MAX_ACCELERATION = 300

[AXIS_Y]
       MIN_LIMIT = -100
       MAX_LIMIT = 100
    MAX_VELOCITY =   20
MAX_ACCELERATION = 300

[AXIS_Z]
       MIN_LIMIT = -120
       MAX_LIMIT = 120
    MAX_VELOCITY =   20
MAX_ACCELERATION = 300

[AXIS_A]
       MIN_LIMIT = -100
       MAX_LIMIT =   50
    MAX_VELOCITY =   30
MAX_ACCELERATION =   300

[AXIS_C]
       MIN_LIMIT = -36000
       MAX_LIMIT = 36000
    MAX_VELOCITY =     30
MAX_ACCELERATION =    300

[JOINT_0]
              TYPE = LINEAR
              HOME =    0
      MAX_VELOCITY =   20
MAX_ACCELERATION = 300
         MIN_LIMIT = -200
         MAX_LIMIT = 200
   HOME_SEARCH_VEL =    0
     HOME_SEQUENCE =    0

[JOINT_1]
              TYPE = LINEAR
              HOME =    0
      MAX_VELOCITY =   20
MAX_ACCELERATION = 300
         MIN_LIMIT = -100
         MAX_LIMIT = 100
   HOME_SEARCH_VEL =    0
     HOME_SEQUENCE =    0

[JOINT_2]
              TYPE = LINEAR
              HOME =    0
      MAX_VELOCITY =   20
MAX_ACCELERATION = 300
         MIN_LIMIT = -120
         MAX_LIMIT = 120
   HOME_SEARCH_VEL =    0
     HOME_SEQUENCE =    0

[JOINT_3]
            TYPE = ANGULAR
            HOME =    0
    MAX_VELOCITY =   30
MAX_ACCELERATION = 300
       MIN_LIMIT = -100
       MAX_LIMIT =   50
HOME_SEARCH_VEL =    0
   HOME_SEQUENCE =    0

[JOINT_4]
            TYPE = ANGULAR
            HOME =      0
    MAX_VELOCITY =     30
MAX_ACCELERATION =    300
       MIN_LIMIT = -36000
       MAX_LIMIT = 36000
HOME_SEARCH_VEL =      0
   HOME_SEQUENCE =      0

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akg1904
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3 years 3 months ago #276215 by akg1904

Replied by akg1904 on topic Dynamic work Offset in 5-Axis XYZAC

Hi,

Thanks for the reply.

I tried what @Aciera suggested and changed my "switchkins_postgui.hal", but when I tried to launch my linuxcnc I got following error:

note: jog_order='XYZC'
note: jog_invert=set()
switchkins_postgui.hal:15: pin 'xyzac-trt-kins.y-offset' is connected to a signal
Shutting down and cleaning up LinuxCNC...
task: 112 cycles, min=0.000005, max=0.011349, avg=0.008768, 0 latency excursions (> 10x expected cycle time of 0.010000s)

is there any other changes which I need to do?

I have attached my INI and Switchkins_postgui.hal file with all the changes suggested by @Aciera

Attachment not found

Regards
Abhishek

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Aciera
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3 years 3 months ago #276219 by Aciera

Replied by Aciera on topic Dynamic work Offset in 5-Axis XYZAC

Compare the [HAL] section in your ini to mine.

The section should look like this (delete or comment out everything else):

[HAL]
HALUI = halui
HALFILE = LIB:basic_sim.tcl
POSTGUI_HALFILE = switchkins_postgui.hal

# net for control of motion.switchkins-type
HALCMD = net :kinstype-select <= motion.analog-out-03 => motion.switchkins-type

# vismach xyzac-trt-gui items
HALCMD = loadusr -W xyzac-trt-gui
HALCMD = net :table-x joint.0.pos-fb xyzac-trt-gui.table-x
HALCMD = net :saddle-y joint.1.pos-fb xyzac-trt-gui.saddle-y
HALCMD = net :spindle-z joint.2.pos-fb xyzac-trt-gui.spindle-z
HALCMD = net :tilt-a joint.3.pos-fb xyzac-trt-gui.tilt-a
HALCMD = net :rotate-c joint.4.pos-fb xyzac-trt-gui.rotate-c
HALCMD = net :tool-offset motion.tooloffset.z
HALCMD = net :tool-offset xyzac-trt-kins.tool-offset xyzac-trt-gui.tool-offset

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akg1904
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3 years 3 months ago #276225 by akg1904

Replied by akg1904 on topic Dynamic work Offset in 5-Axis XYZAC

Hi,

Thank you for your quick reply.

I was able to solve the previous problem thanks to @Aciera and now linuxcnc is opening with the given configuration.

Now I am facing another problem, the DWO offsets are mentioned in INI file but it seems that linuxcnc is not able to configure the offset and move the 5-Axis to it's new Rotation Point accordingly.
It is still using the Old Rotation Point.

Right now I am not able to figure out what is going wrong and how can I fix this Problem.
Please help me figure this out, as I think it might be some stupid thing which I might have missed.

I have attached my INI and Switchkins_postgui.hal file.

Attachment not found

Thanks and Regards
Abhishek

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