Kinematics for XYZAB mill

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04 Dec 2022 08:32 #258486 by rodw
Replied by rodw on topic Kinematics for XYZAB mill
Thats actually handled by remapping the joints in 2.9 when the switchkins mode changes
as shown here in millturn.comp
github.com/LinuxCNC/linuxcnc/blob/master...s/millturn.comp#L156
This is a standard sim in 2.9

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04 Dec 2022 08:59 #258488 by Aciera
Replied by Aciera on topic Kinematics for XYZAB mill
I see your point and there are millturn machines (hence the sim you mentioned) but to justify the term 'turn' you need a rotary axis that can position as well as rotate at high speeds. If it's just rotating while the mill bit is engaged in the material then I would call that milling. I don't expect the particular machine you need the kinematics for has the ability to run the B axis as a spindle, but I don't know.
Usually a 5/6 axis millturn machine has a horizontal A axis that also works as the lathe spindle and a tilting head as the B axis. This is also preferable since bar stock can be loaded in the spindle/A-axis and the milling head can also be used on work held in the tailstock axis (ie 6th axis). On a millturn machine non rotating lathe tools can also be used instead of a rotating millbit.
 


 
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04 Dec 2022 09:42 #258489 by rodw
Replied by rodw on topic Kinematics for XYZAB mill
Yeh everytime I look at the parts I use, it needs a mill turn but I don't have a budget for that!

I think I might not bother for a while.
 

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04 Dec 2022 10:14 #258492 by Aciera
Replied by Aciera on topic Kinematics for XYZAB mill
Now that you wield the full might of matrix multiplication you can build your own! :)

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04 Dec 2022 10:25 #258494 by rodw
Replied by rodw on topic Kinematics for XYZAB mill
Thanks, It would take a lot of googling to do it. Still some gaps in my knowledge like inverting the matrix towards the end. I kinda get the direction they take but the specifics are still unknwn.

I was very grateful for the amazing effort you put in.

But the lathe is just basic trig I could handle...

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01 Jan 2023 16:02 - 03 Jan 2023 09:10 #260709 by Aciera
Replied by Aciera on topic Kinematics for XYZAB mill
After finally getting tired of doing the math by hand and switching over to sage I managed to get the offsets implemented: 

Video: user-images.githubusercontent.com/460672...784-f69c9e05f146.mp4

Sim config (requires version 2.10):    

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Last edit: 03 Jan 2023 09:10 by Aciera. Reason: Fix some more inconsistencies
The following user(s) said Thank You: tommylight

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01 Jan 2023 20:40 #260728 by rodw
Replied by rodw on topic Kinematics for XYZAB mill
That is very cool. Maybe you should add a pull request to get it into 2.9 before its finalised

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02 Jan 2023 07:46 #260754 by Aciera
Replied by Aciera on topic Kinematics for XYZAB mill
Thanks, I do hope to get it into the sim collection but it won't be for the 2.9 release. The kinematics component in this particular sim config requires 2.10 due to some changes that have been pushed a couple of weeks ago.
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06 Jan 2023 17:16 #261101 by Aciera
Replied by Aciera on topic Kinematics for XYZAB mill
Thanks to dngarret this sim config has just been pushed to 2.9 as 'xyzab-tdr'
The following user(s) said Thank You: tommylight, rodw

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06 Jan 2023 21:24 #261126 by rodw
Replied by rodw on topic Kinematics for XYZAB mill
Awesome work team! Aceira, thanks for your hard work with the kinematics.
And thanks to Dewey for getting this amazing enhancement into the next production release of Linuxcnc. I'm always in awe of Dewey's work.
 
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