Kinematic model for a 5axis mill with universal (nutating) head

have a look at the millturn simulation configuration:
github.com/LinuxCNC/linuxcnc/tree/master...xis/vismach/millturn

The limits are switched between two sets configured in the ini file.
See 'mcodes' for the switching scripts and the files in 'remap_subs' that actually call them.

Hi Aciera;

First of all, thanks for your great work.

with config "xyzbca-trsrn" it is very easy to make nutation-angle = 90 if machine doesn't have nutating head and it works properly with 90 degree nutation agle.

what about if A axis is on the plane like B axis, and only C axis is on spindle ? is there any easy way to do it with config  "xyzbca-trsrn" ?

i checked "xyzab-tdr" config too but this config doesnt have C axis on spindle. and also i checked "xybc-trt" .

what is the correct way for  configuration xyzbac- table rotay- table rotary  - spindle rotary ?   

 

I'm afraid I don't have a ready made kinematic for a machine with 2 work side rotaries and one spindle rotary.

Do you have a picture of the machine geometry? I'm having trouble picturing a spindle with a C rotation only. C would rotate around the Z axis and usually the spindle itself is aligned with the Z axis.

Hi,

i attached representive photo of the machine. 

C axis is for rotation of the welding torch and this torch has offset between torch tip and rotation center of the C axis This ofsett can modified by operator according to welding jig.

A and B axis are for rotation of the object that operator needs to weld.  

I see. Yes, that would require a new kinematic model. Basically the 'xyzab-tdr' expanded with the tool side c rotation and the torch tip offset.

metalkesh wrote:

C axis is for rotation of the welding torch and this torch has offset between torch tip and rotation center of the C 

This is not the C-axis.