5-axis config - Tool change not working

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tommy
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26 Jan 2024 18:34 #291674 by tommy

5-axis config - Tool change not working was created by tommy

What could be the reason that after T100M6G43 the following popup window doesn't show up:

Tool table looks like this:

As a reference I have configs/sim/axis/vismach/5axis/bridgemill, in which are two lines in INI that might be related to this problem (or not), For first line I'm receiving error on startup of Lcnc:

HALFILE = LIB:basic_sim.tcl -no_make_ddts -no_simulated_home -no_sim_spindle

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

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tommy
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29 Jan 2024 13:27 - 29 Jan 2024 13:28 #291888 by tommy

Replied by tommy on topic 5-axis config - Tool change not working

I came to a point that Tn M6 G43 or even G43 Hn, takes tool from tool table (TLO Z: 100), but Tool Center Point doesn't shift form pivot_length to tool tip, so tool length is still not adopted by kinematics.
I checked this simply by jog B-axis for example where you can clearly see around which point it tilts.
In preview and simulation it shows as it works correctly, but on real machine it is not.

Last edit: 29 Jan 2024 13:28 by tommy.

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Aciera
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29 Jan 2024 15:31 #291895 by Aciera

Replied by Aciera on topic 5-axis config - Tool change not working

The bridgemill kinematics expects the tool-z offset to be added to the pivot-length. In the sim config this is done in '5axisgui.hal':

# compute pivot-length needed for 5axiskins
# according to gui pivot_len and tool z offset
loadrt sum2 names=pivotsum
addf pivotsum servo-thread

net :gui-pivot-len <= 5axisgui.pivot_len
net :gui-pivot-len => pivotsum.in0

net :tool-len <= motion.tooloffset.z
net :tool-len => pivotsum.in1
net :tool-len => 5axisgui.tool_length

net :pivot-len <= pivotsum.out
net :pivot-len => 5axiskins.pivot-length

If you do not use the vismach simulation window then remove this line from the above:

net :tool-len => 5axisgui.tool_length

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tommy
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30 Jan 2024 13:19 #291979 by tommy

Replied by tommy on topic 5-axis config - Tool change not working

Exactly what was missing in my config! Thank you!

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