RTCP Configuration 1

[Chevvron]

Tom,
I attach 2 pictures of our re-configured 5 axis head.
The spindle centre line is now in line with the C rotation.
There is now only 1 pivot length which is A axis centre of rotation to spindle collet = 0 tool length.
In the pictures the X linear axis is +ve into the photo towards the cabinets.
The Y linear axis is +ve to the left side of the photo and the Z linear axis is +ve vertically up.
Picture 1 shows the A0 C0 poisition.
Picture 2 shows the A90 C90 position = cw +ve rotations about the X and Z axis when viewed down the +ve linear axis direction.
No Kinematics .txt file causes independent linear and rotational axis jogs.
Kinematics.txt with the line Kinematics5AxisGimbalAB causes what i think are RTCP jog moves but i think either the linear axes
are moving in the wrong directions, or the rotational axes are moving in the wrong directions as the tool tip centre moves
away from the RTCP centre.
Can you please offer help ?
Regards,
Tim

[TomKerekes]

Hi Tim,

I think the A axis is rotating the wrong direction. I think the tool should follow the right hand rule. Point your thumb in the +X direction then moving A + should rotate in the direction of your fingers. Your example of moving from 0 to +90 seems to be opposite this. Try reversing the A axis in the KFLOP axis settings (Output Gain and Input gain if there is feedback).

[Chevvron]

Tom,
i need to be able to set the pivot to chuck length depending on the spindle we use.
I downloaded 4.35b, the G code interpreter dll and kinematics txt from the Forum.
I have 4.35b installed in it's own directory and copied over all my relevant setup so still having access to the original 4.34 version.
I still seem to find that 4.35b does not compensate for RTCP unless i set the tool length to be (pivot to tool tip - 6 inches).
6 inches is the defined length in the standard installed kinematics file.
I have attached the downloaded files and my edited file.
All files are in the correct locations as far as i know.

When i had the AB (C) home positions correct then RTCP works well except for the ability to easily change the pivot to chuck length.
Regards,
Tim

[Chevvron]

Tom,
With reference to my earlier post this morning RTCP Configuration 2.
Partially my own fault as i was not looking at the 435b directory.
Having flashed the KFlop i am definitely working with 4.35b version.
However if i use the Forum Kinematics.txt as is then KMotionCNC loads and runs.
If i edit Kinematics.txt to represent my 5 axis head configuration KMotionCNC does not load and run.
I am guessing that your patch was specific to that 5 axis head arrangement ?
Regards,
Tim

[TomKerekes]

Hi Tim,

The Kinematics type Kinematics5AxisGimbalAB requires re-building to make any changes as it doesn't read parameters from the kinematis.txt file. See here and here.

You might read this Thread for further help re-building the libraries. Of course your case will be simpler as you are only changing a number in an existing class rather than creating a new class.