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

Aciera wrote:

 The operator can now jog the spindle rotation without rotating the whole coordinate system as described in the documentation which makes it a lot more fool proof.

 

First off all of this is all very cool and I hope it makes its way into the master branch at some point.

Regarding jogging the rotation of the head, I *think* on industrial controls I've used it doesn't allow you to rotate the head if you have a tilted work plane in effect. I can do some testing on a Heidenhain machine here if that's useful at all?

Thanks for your feedback.

Inhibiting jogging is one thing but the bigger problem is that I don't see a way to keep an operator from using an MDI command with an A,B or C word because this would require the gcode interpreter to be aware of TWP modes.

However the main issue which caused large simultaneous machine movement during spindle reorientation in TWP mode has been solved. The current kinematic component does not use the actual spindle rotary position for it's calculations anymore but uses the static angles calculated by the TWP remap. This way the operator can change the orientation of the spindle (either by jogging or MDI command) while in TWP mode but no unexpected machine movement will result from it.

[附件=60224]1.jpg[/attachment]这个错误需要修改某些文件吗？

Please repost your question.

There are errors in opening the profile and I m a novice don t know how to handle it.

This is an engraving machine I made, which can now implement RTCP, but the tilt surface function is not yet possible.