5 axis tilted drilling

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30 Sep 2022 12:44 #253094 by Yannis
Hello
in a head _head 5 axis machine is there a way to move manually the machine according the A and B axis to drill a hole?
something similar to the Polar move depending from tow axis A and B
 
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30 Sep 2022 13:45 #253099 by Aciera
Replied by Aciera on topic 5 axis tilted drilling
 Have a look at the bridgemill simulation configuration (this uses W to move the tool along its rotational axis for drilling):

configs/sim/axis/vismach/5axis/bridgemill

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01 Oct 2022 05:22 #253146 by Yannis
Replied by Yannis on topic 5 axis tilted drilling
I find this in a similar post
So a rephrase the question
Is there a way to add W axis in my machine?
What sud i add in my configuration files to do so?

Replied by Aciera on topic XYYZBC-str config
Regarding the W-"axis": This is not a physical axis but rather a way to command a coordinated move by the physical xyz axis to move the tool along its rotational axis.
For example if you wanted to drill a hole to a depth of -5 with a drillbit with B and/or C at any angle you would command say G01 W-5 and the drillbit would then move along its axis by -5. Then you could do G0 W10 and the bit would be retracted with a rapid move by 10.
So I don't think you would define a W axis in the INI because that would probably do strange things. (MAybe check in the 5axiskins-sim config)
edit: I think I might be wrong there. So you would define it in the INI so you get a DRO for it.

Note that xyz-bc-trt-kins is for a machine where the tilt and rotation is done by the table. You need a kinematic where the B and C movement is done by the spindle. I think 5axiskins is the one you want.

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01 Oct 2022 07:08 - 01 Oct 2022 07:14 #253148 by Aciera
Replied by Aciera on topic 5 axis tilted drilling
Looking at the 5axis.ini in the bridgemill config should give some information as to what is required:
[EMC]
VERSION = 1.1
MACHINE = Sim-5Axis Bridge Mill (xyzbcw)
  DEBUG = 0

[DISPLAY]
         GEOMETRY = XYZCBW
        OPEN_FILE = ./5axisgui.ngc
       INCREMENTS = 10 mm, 1 mm, .1 mm
         JOG_AXES = XYZC
         GEOMETRY = XYZCBW
          DISPLAY = axis
       CYCLE_TIME = 0.200
  POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 2.0
   PROGRAM_PREFIX = ../../nc_files/
    INTRO_GRAPHIC = linuxcnc.gif
       INTRO_TIME = 5
      TOOL_EDITOR = tooledit z diam
          #EDITOR = gedit
            PYVCP = 5axis.xml

[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
PARAMETER_FILE = 5axis.var

[EMCMOT]
      EMCMOT = motmod
COMM_TIMEOUT = 1.0
SERVO_PERIOD = 1000000

[TASK]
      TASK = milltask
CYCLE_TIME = 0.010

[HAL]
  HALUI = halui
HALFILE = LIB:basic_sim.tcl
HALFILE = 5axisgui.hal
HALCMD  = net :kinstype-select <= motion.analog-out-03 => motion.switchkins-type
POSTGUI_HALFILE = 5axis_postgui.hal

[HALUI]
# M428:bridgemill    (kinstype==0 startupDEFAULT)
# M429:identity kins (kinstype==1)
# M430:userk kins    (kinstype==2)
MDI_COMMAND = M428
MDI_COMMAND = M429
MDI_COMMAND = M430

[TRAJ]
         COORDINATES = XYZBCWY
        LINEAR_UNITS = mm
       ANGULAR_UNITS = degree
MAX_ANGULAR_VELOCITY = 360.0
DEFAULT_LINEAR_VELOCITY = 200.0
MAX_LINEAR_VELOCITY = 346.0
MAX_LINEAR_ACCELERATION = 800.0
DEFAULT_LINEAR_ACCELERATION = 800.0
MAX_ANGULAR_VELOCITY = 360

[EMCIO]
     EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = 5axis.tbl

[KINS]
# Note: Supported coordinates are XYZBCW but the W coordinate
#       motion is incorporated into the X,Y,Z axes.
#       Use of the W coordinate requires a joint (5)
#       in order to allow display of W values.
#       Use immediate homing for this joint (JOINT_5)
# Note: 5axiskins is misnomer
#       (xyzbcw  uses 6 joints)
#       (xyzbcwy uses 7 joints)

# xyzbcw
#          type0:5axiskins, type1:identity, type2:userk
#          x:joint0,y:joint1,z:joint2,b:joint3,c:joint4,w:joint5
#    JOINTS  = 6
# KINEMATICS = 5axiskins

# illustraed below is complex example with duplicate
# coord letters for y, 7 joints total):
#           type0:5axiskins, type1:identity, type2:userk
#           x:joint0
#           y:joint1 AND joint6
#           z:joint2
#           b:joint3
#           c:joint4
#           w:joint5
     JOINTS = 7
 KINEMATICS = 5axiskins coordinates=xyzbcwy

[AXIS_X]
       MIN_LIMIT = -500
       MAX_LIMIT =  500
    MAX_VELOCITY =  200
MAX_ACCELERATION =  800

[AXIS_Y]
       MIN_LIMIT = -500
       MAX_LIMIT =  500
    MAX_VELOCITY =  200
MAX_ACCELERATION =  800

[AXIS_Z]
       MIN_LIMIT = -500
       MAX_LIMIT =  100
    MAX_VELOCITY =  200
MAX_ACCELERATION =  800

# B is one-to-one to JOINT_3
[AXIS_B]
       MIN_LIMIT = -120
       MAX_LIMIT =  120
    MAX_VELOCITY =   60
MAX_ACCELERATION =  200

# C is one-to-one to JOINT_4
[AXIS_C]
       MIN_LIMIT = -36000
       MAX_LIMIT = 36000
    MAX_VELOCITY =    60
MAX_ACCELERATION =   200

# W motion is incorporated in Z motion
# but a joint (JOINT_5) must be configured
# to support display of W values
[AXIS_W]
       MIN_LIMIT = -100
       MAX_LIMIT =  500
    MAX_VELOCITY =  200
MAX_ACCELERATION =  800

[JOINT_0]
              TYPE = LINEAR
      MAX_VELOCITY =  200
  MAX_ACCELERATION =  800
         MIN_LIMIT = -500
         MAX_LIMIT =  500
   HOME_SEARCH_VEL =    0
     HOME_SEQUENCE =    0

[JOINT_1]
            TYPE = LINEAR
    MAX_VELOCITY =  200
MAX_ACCELERATION =  800
       MIN_LIMIT = -500
       MAX_LIMIT =  500
 HOME_SEARCH_VEL =    0
   HOME_SEQUENCE =   -1

# joints 1 and 6 used for y
[JOINT_6]
            TYPE = LINEAR
    MAX_VELOCITY =  200
MAX_ACCELERATION =  800
       MIN_LIMIT = -500
       MAX_LIMIT =  500
 HOME_SEARCH_VEL =    0
   HOME_SEQUENCE =   -1

[JOINT_2]
            TYPE = LINEAR
    MAX_VELOCITY =  200
MAX_ACCELERATION =  800
       MIN_LIMIT = -500
       MAX_LIMIT =  100
 HOME_SEARCH_VEL =    0
   HOME_SEQUENCE =    0

[JOINT_3]
            TYPE = ANGULAR
    MAX_VELOCITY =   60
MAX_ACCELERATION =  200
       MIN_LIMIT = -120
       MAX_LIMIT =  120
 HOME_SEARCH_VEL =    0
   HOME_SEQUENCE =    0

[JOINT_4]
            TYPE = ANGULAR
    MAX_VELOCITY =     60
MAX_ACCELERATION =    200
       MIN_LIMIT = -36000
       MAX_LIMIT =  36000
 HOME_SEARCH_VEL =      0
   HOME_SEQUENCE =      0

# immediate homing for JOINT_5 (w coordinate)
[JOINT_5]
            TYPE = LINEAR
       MIN_LIMIT = -100
       MAX_LIMIT =  500
    MAX_VELOCITY =  200
MAX_ACCELERATION =  800
 HOME_SEARCH_VEL =    0
   HOME_SEQUENCE =    0


Looks like you will have to add the W axis to the config and use KINEMATICS = 5axiskins coordinates=xyzbcwy
Note that the simulation config uses a gantry for Y so you might have to change coordinates = xyzbcw
Do you already have a config for your machine? If so please post your ini files.
Last edit: 01 Oct 2022 07:14 by Aciera.

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01 Oct 2022 07:17 #253149 by Aciera
Replied by Aciera on topic 5 axis tilted drilling
Note:
The config I posted is from LinuxCNC version 2.9 (ie master) if you are on 2.8 then the switchable kinematics (switchkins) feature is not available and the ini would look slightly different.
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01 Oct 2022 08:46 #253153 by Yannis
Replied by Yannis on topic 5 axis tilted drilling
here is the ini file
where else is required to change/add files?

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File Name: AGISANDROS...0-01.ini
File Size:5 KB
?
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01 Oct 2022 10:50 - 01 Oct 2022 10:54 #253163 by Aciera
Replied by Aciera on topic 5 axis tilted drilling
Seems you are working with version 2.7. I'm less familiar with versions lower than 2.8 but here is a suggestion (make sure to backup your current ini file before making the changes.
The only other file needed would be the "5axiskins" file and I _think_ that is present in version 2.7. Also you seem to have the machine configured as XYZAB which seems odd as with the tilting rotational head you posted the rotation axis would be C. I will need to change your ini to the XYZBC setup because the 5axiskins used in the bridgemill simulation config uses that, so you might have to change the axis letter A to B and B to C in your .hal file.
Try changing/ adding the following lines in the sections indicated:

[DISPLAY]
GEOMETRY = XYZCBW


[TRAJ]
COORDINATES = XYZBCWY

[KINS]
JOINTS = 6
KINEMATICS = 5axiskins coordinates=xyzbcw

before the spindle section add (you will likely have to adjust the limit and velocity/accelleration values to your needs):
#********************
# Axis W
#********************
[AXIS_5]
TYPE = LINEAR
MIN_LIMIT = -10
MAX_LIMIT = 20
MAX_VELOCITY = 40
MAX_ACCELERATION = 70
HOME_SEARCH_VEL = 0



edit:
Forgot that you will likely also need to add stuff (ie pid) to your .hal file for the W axis so post that file if you are having trouble getting it running
Last edit: 01 Oct 2022 10:54 by Aciera.
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03 Oct 2022 05:19 #253311 by Yannis
Replied by Yannis on topic 5 axis tilted drilling
The HAL file

File Attachment:

File Name: AGISANDROS...0-03.hal
File Size:14 KB
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03 Oct 2022 06:47 - 03 Oct 2022 06:51 #253315 by Aciera
Replied by Aciera on topic 5 axis tilted drilling
Here is a modified version to try. There will likely be errors on startup if you can't figure those out you will need to post the errors and your ini and hal file. 
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Last edit: 03 Oct 2022 06:51 by Aciera. Reason: file missing
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03 Oct 2022 09:34 #253329 by Yannis
Replied by Yannis on topic 5 axis tilted drilling
 

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i try to convert the A axis to C and i have this error
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