5-axis kinematics B axis invert rotation

More
12 Jan 2024 11:38 #290496 by tommy
I would need a little help modifying "default" 5axiskins.c used also by configs/sim/axis/vismach/5axis/bridgemill, and there B axis rotates in opposite direction as I would need for my machine (clockwise around Y axis, looking from machine coordinate 0).

Warning: Spoiler!


 

Please Log in or Create an account to join the conversation.

More
12 Jan 2024 11:54 #290497 by andypugh
What exactly is the problem? Is it that the B axis rotates in the wrong direction when commanded to move directly, or that it moves in the wrong direction when it is part of a TCP coordinated move? Or both?

Please Log in or Create an account to join the conversation.

More
12 Jan 2024 12:22 #290499 by tommy
You can test it in 5axis bridgemill sim, where B axis rotate/tilt opposite as image below shows for "normal" vertical machining center:


 

Please Log in or Create an account to join the conversation.

More
12 Jan 2024 12:40 #290501 by andypugh
Yes, but, is it purely reversed, or only reversed in TCP mode?

Please Log in or Create an account to join the conversation.

More
13 Jan 2024 16:53 #290568 by Aciera
I'm not familiar with the posemath library use in the bridgemill config but I've made a sim config for a CB-spindle-rotary-tilting machine that includes TCP and TOOL kinematics (this also includes an A-axis table-rotary).

Documentation is included in the README and the 'Documentation'-folder 

 


 

File Attachment:

File Name: table-rota...g.tar.gz
File Size:682 KB
Attachments:

Please Log in or Create an account to join the conversation.

More
13 Jan 2024 18:51 #290574 by tommy
I figured it out it is much easier for me to modify my postprocessor.

Anyway I still need to adjust  #define DEFAULT_PIVOT_LENGTH 250  to different number than 250 inside kinematics file, but can't compile
Compiling realtime 5axiskins.c
Linking 5axiskins.so
/usr/ld:5axiskins.ver:2 syntax error in VERSION script
collect2: error: ld returned 1 exit status
make: *** [/usr/share/linuxcnc/Makefile.modinc:125 5axiskins.so] Error 1

Please Log in or Create an account to join the conversation.

More
13 Jan 2024 19:48 #290577 by tommylight
Syntax error is usually a missing or added : or ; or , or typo somewhere, not easy to pinpoint as the report does not give much to go on.

Please Log in or Create an account to join the conversation.

More
13 Jan 2024 20:02 #290580 by Aciera
Looking at '5axisgui.hal' I don't think you need to change the kinematic component to change the pivot-length:
loadusr -W 5axisgui
# to set different pivot_len, use:
#   'loadusr -W 5axisgui pivot_len=value'

Please Log in or Create an account to join the conversation.

More
14 Jan 2024 17:28 #290673 by tommy
loadusr -W 5axisgui pivot_len=value
I missed this one, it works!

Please Log in or Create an account to join the conversation.

More
23 Jan 2024 19:41 #291455 by tommy
Is loading Tk vismach machine simulation window on startup caused by kinematics module or somewhere in .ini? I really don't need it anymore, and would like to turn it off.

Please Log in or Create an account to join the conversation.

Time to create page: 0.707 seconds
Powered by Kunena Forum