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  1. #21
    Member amitkumar171's Avatar
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    Default Re: How to setup kinematics RTCP in KmotionCNC

    Hi Tom,

    As i said earlier RTCP for AC table i modified that machine zero values.

    and i tested RTCP for AC table by moving X, Y, Z.

    But in case of G code i generate from CAM software. G-Code generated for AC Table is not working for our Machine but G-Code generated for BC Table is working fine in my Case.

    So in order to run the program perfectly for out machine i had to replace B by A and Interchange X and Y both. Then RTCP is working fine.

    Is there in part in 5axiskinematicsAC.cpp which is still working for BC table only. ?

    i mean replacing B with A and Interchange X and Y every time when i want to run the machine is quite extensive task.

    So please tell me how do i overcome this problem.

    Regards

    Amit Kumar


  2. #22
    Member TomKerekes's Avatar
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    Default Re: How to setup kinematics RTCP in KmotionCNC

    Hi Amit,

    Sorry we are having difficulty communicating. Sorry I don't speak your language. We seem to be going in circles. Do you have a friend that speaks better English?

    As i said earlier RTCP for AC table i modified that machine zero values.
    I don't understand what this means

    and i tested RTCP for AC table by moving X, Y, Z.
    I don't understand what this means

    I understand you have a problem. We are trying to solve the problem. That is why we are asking you to verify things, make changes, run tests, and report what happened.

    Could we go back to my Post #18 and do one thing at a time.

    Please make that change and report what happened.

    Regards

    Regards
    TK http://dynomotion.com


  3. #23
    Member amitkumar171's Avatar
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    Default Re: How to setup kinematics RTCP in KmotionCNC

    Hi tom,

    This is Vignesh Here, Amit told me about having difficulty in communications so i will try my best to convey the thought.

    I believe the controller we procured had TCP based on kinematics5AxisTableBC and kinematics5AxisTableAB. But we required a TCP based on kinematics5AxisTableAC. Which you kindly obliged by sending us a new TCP file as requested, The TCP worked fine while Jogging but failed when we tried to run the machines using G-Codes generated by the CAM software specifically for AC Table.


    Fortunately after many trails and errors we found that the file sent by you (kinematics5AxisTableAC-class) worked perfectly under the following conditions:

    1. In the post processor of the CAM software we set Machine definition for BC Table.
    2. Generated the G-Codes of the Component.
    3. We Interchanged the position of letters X & Y and replaced the letter "B" by letter "A" in the G-Code file generated by the CAM Software.

    Note: Point to note here is that we are not changing the Position or the value of the digits(Numbers), Its Just the texts.

    For Example: N15 G01 X10 Y15 Z2.5 B2 C5 (BY CAM SOFTWARE)

    N15 G01 Y10 X15 Z2.5 A2 C5 (G code that works fine for our Machine)


    Also i tried to operate the machine as per your suggestions in post 18 i.e., replacing a with -a, c with -c in kinematics5AxisTableAC.cpp and rebuilding it using visual studio 2015.

    Kindly help us by making a true kinematics5AxisTableAC Class which works with Machine definition for AC Table in the post processor of the CAM software.

    Anticipating your kind reply.

    Thank you,
    Vignesh M



  4. #24
    Member TomKerekes's Avatar
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    Default Re: How to setup kinematics RTCP in KmotionCNC

    Hi Amit/Vignesh,

    This is Vignesh Here, Amit told me about having difficulty in communications so i will try my best to convey the thought.
    Thanks! Your English seems excellent.

    I believe the controller we procured had TCP based on kinematics5AxisTableBC and kinematics5AxisTableAB. But we required a TCP based on kinematics5AxisTableAC. Which you kindly obliged by sending us a new TCP file as requested, The TCP worked fine while Jogging but failed when we tried to run the machines using G-Codes generated by the CAM software specifically for AC Table.
    Yes I understand this. I believe the reason for this is because the A and C Axes were configured to move the wrong direction and the Kinematics5AxisTableAC had the wrong sign for A and C.

    I was expecting fixing these two issues should make RTCP work correctly.

    It isn't clear to me what direction is positive for the A and C axes. After much discussion I thought we had an understanding but then the Video showed them moving opposite what we discussed. Angles are usually specified with regard to the Tool using the Right-Hand-Rule. Since we are moving the Table instead of the tool the Table needs to rotate the opposite direction. Please describe the directions the tables move when commanded in the + direction.

    Assuming the both directions are correct and the code was changed replacing a with -a, c with -c in kinematics5AxisTableAC.cpp correctly then RTCP should work. If it doesn't then there is something wrong somewhere and we will need your help to figure out what is wrong by performing very simple tests and reporting exactly what happens.

    The first simple test would be to move the tool tip to the center of rotations of both tables. That should be Machine Coordinate X=0 Y=0 Z=13mm. Jogging the A and C angles should cause no XYZ motion. You can observe and record the axis positions by running KMotion.exe and observing the Axis Screen Destinations.

    Regards

    Regards
    TK http://dynomotion.com


  5. #25
    Member amitkumar171's Avatar
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    Default Re: How to setup kinematics RTCP in KmotionCNC

    Hi, Tom

    Thanks For Your Reply.

    Our TCP Seems to be working. But we don't know how to turn it off and on.

    Can You suggest me, How to turn ON/OFF TCP by using M Codes. ?

    I tried using replacement of kinematics.txt file from data folder but it still needs restarting of KmotionCNC Application. and that is too risky. So any other solution available than this.


    Waiting for your Kind Reply.


    Thank You
    AMIT KUMAR

    Regards

    Amit Kumar


  6. #26
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    Default Re: How to setup kinematics RTCP in KmotionCNC

    Hi Amit,

    That functionality would need to be added.

    It seems Fanuc uses G43.4 to turn TCP on and G49 to turn it off.

    Does that sound reasonable?

    Regards

    Regards
    TK http://dynomotion.com


  7. #27
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    Default Re: How to setup kinematics RTCP in KmotionCNC

    Quote Originally Posted by TomKerekes View Post
    Hi Amit,

    That functionality would need to be added.

    It seems Fanuc uses G43.4 to turn TCP on and G49 to turn it off.

    Does that sound reasonable?

    Regards
    Hi tom,

    Thanks for your reply.

    Yes it sounds reasonable.

    And is it possible to add in kmotionCNC?


    Thanks

    Sent from my Lenovo K50a40 using Tapatalk

    Regards

    Amit Kumar


  8. #28
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    Default Re: How to setup kinematics RTCP in KmotionCNC

    Hi Amit,

    Here is a patch to V4.34j that should add G43.4 to turn on TCP and G49 to turn off TCP. By default TCP will be off.

    Index of /Software/Patch/AddG43.4G49_TCP_OnOff_V4.34j

    Included are Release binaries and changed source files.

    Please let us know if it works or there are issues.

    Regards

    Regards
    TK http://dynomotion.com


  9. #29
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    Default Re: How to setup kinematics RTCP in KmotionCNC

    Quote Originally Posted by TomKerekes View Post
    Hi Amit,

    Here is a patch to V4.34j that should add G43.4 to turn on TCP and G49 to turn off TCP. By default TCP will be off.

    Index of /Software/Patch/AddG43.4G49_TCP_OnOff_V4.34j

    Included are Release binaries and changed source files.

    Please let us know if it works or there are issues.

    Regards

    Hi Tom,

    Thank you for your reply.

    I tried replacing those patch files that you sent earlier.

    But Still after replacing it TCP On/Off G43.4 is saying offset index missing.

    i have attached one jpg that is saying same.



    Waiting for your kind reply for resolving this issue.


    Thank You
    AMIT KUMAR

    Attached Thumbnails Attached Thumbnails How to setup kinematics RTCP in KmotionCNC-capture-jpg  
    Regards

    Amit Kumar


  10. #30
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    Default Re: How to setup kinematics RTCP in KmotionCNC

    Hi Amit,

    G43 and G43.4 codes enable Tool Table Offsets so a Tool ID or Slot needs to be specified with an H word. For Example:

    G43.4 H1001

    Regards

    Regards
    TK http://dynomotion.com


  11. #31
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    Default Re: How to setup kinematics RTCP in KmotionCNC

    Quote Originally Posted by TomKerekes View Post
    Hi Amit,

    G43 and G43.4 codes enable Tool Table Offsets so a Tool ID or Slot needs to be specified with an H word. For Example:

    G43.4 H1001

    Regards
    Hi tom,

    Thanks for your reply.

    I tried running that G43.4 with H1001.

    And tcp is working but its random tcp.

    Its not taking tcp center as intersection of a axis and c axis.

    And this tcp after g43.4 code is random. Its doing its own optimisations.

    Nothing is correct after this enable tcp code.

    When I rotate a with some z coordinate its optimising in y coordinate. But not maintaining tool center point with the part.

    Waiting for your reply for solving this issue.

    Or you can suggest how this G43.4 will work and which z coordinate it will add for tcp maintaining.

    Thank you
    AMIT KUMAR

    Sent from my Lenovo K50a40 using Tapatalk

    Regards

    Amit Kumar


  12. #32
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    Default Re: How to setup kinematics RTCP in KmotionCNC

    Hi Amit,

    Did you put all the necessary parameters for your machine into the Kinematics5AxisTableAC.cpp file?

    Do you have any Tool offsets for Tool 1001?

    Regards

    Regards
    TK http://dynomotion.com


  13. #33
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    Default Re: How to setup kinematics RTCP in KmotionCNC

    Quote Originally Posted by TomKerekes View Post
    Hi Amit,

    Did you put all the necessary parameters for your machine into the Kinematics5AxisTableAC.cpp file?

    Do you have any Tool offsets for Tool 1001?

    Regards
    Hi tom,

    Thanks for your reply

    I put all the parameters for my machine into Kinematics5AxisTableAC.cpp file.

    But after that tcp is wrong.

    Before​ your code of tcp on off it was working.

    But for turning on/off i had to replace a kinematics.txt file.

    Is there any way to do that only. Because G43.4 doesn't seem to be working.

    Thanks you
    AMIT KUMAR

    Sent from my Lenovo K50a40 using Tapatalk

    Regards

    Amit Kumar


  14. #34
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    Default Re: How to setup kinematics RTCP in KmotionCNC

    Hi Amit,

    The G43.4 only turns the TCP on and off we should be able to get it to work. When on it executes the exact same code as before. We must have made a simple mistake somewhere. We need information to help find the problem. Only saying its not working doesn't provide any information to help.

    You didn't answer my last question. Please tell us what is the tool offset is for Tool ID 1001?

    Please send us the Kinematics5AxisTableAC.cpp file that was working,

    Please send us the new Kinematics5AxisTableAC.cpp file that you modified to put in your parameters,

    Regards

    Regards
    TK http://dynomotion.com


  15. #35
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    Default Re: How to setup kinematics RTCP in KmotionCNC

    Hi Tom,


    Thanks for your reply.


    what is the tool offset is for Tool ID 1001?

    for tool id 1001 offset is


    Slot 1, ID 1001, Length 0, Diameter 3, X offset 0 , Y offset 0, comment none, image none.


    Kinematics5AxisTableAC.cpp file that working and that you sent me, i modified it are attached.

    now what am i missing here.?


    Waiting for your reply on solution to this problem.


    Thank You
    AMIT KUMAR

    Regards

    Amit Kumar


  16. #36
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    Default Re: How to setup kinematics RTCP in KmotionCNC

    Hi Amit,

    Thanks for telling me what the Tool Offsets are and for sending the files. The offsets are zero and the files are exactly the same except for the one new "if" statement.

    Please answer all the following questions:

    #1 - did you replace the other files from the patch: Kinematics.cpp, TrajectoryPlanner.h, rs274ngc.h, rs274ngc.cpp, , rs274ngc errors.h

    #2 - did you recompile the code after making the changes using BuildAllLibs.sln?

    #3 - did you recompile KMotionCNC also?

    #4 - are you compiling Release or Debug configurations?

    #5 - does TCP work if you put back the last working Kinematics file

    Regards

    Regards
    TK http://dynomotion.com


  17. #37
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    Default Re: How to setup kinematics RTCP in KmotionCNC

    Quote Originally Posted by TomKerekes View Post
    Hi Amit,

    Thanks for telling me what the Tool Offsets are and for sending the files. The offsets are zero and the files are exactly the same except for the one new "if" statement.

    Please answer all the following questions:

    #1 - did you replace the other files from the patch: Kinematics.cpp, TrajectoryPlanner.h, rs274ngc.h, rs274ngc.cpp, , rs274ngc errors.h

    #2 - did you recompile the code after making the changes using BuildAllLibs.sln?

    #3 - did you recompile KMotionCNC also?

    #4 - are you compiling Release or Debug configurations?

    #5 - does TCP work if you put back the last working Kinematics file

    Regards
    Hi tom,

    Thanks for reply.

    Yes after i did what you said on last post.

    And after replacing all files i rebuilt using release mode in visual studio.

    Please tell me what am i missing?

    Hope can we talk on mail or Skype that will be convenient.

    Thanks

    AMIT KUMAR

    Sent from my Lenovo K50a40 using Tapatalk

    Regards

    Amit Kumar


  18. #38
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    Default Re: How to setup kinematics RTCP in KmotionCNC

    Hi Amit,

    Thanks. Please answer questions #3 and #5.

    Regards

    Regards
    TK http://dynomotion.com


  19. #39
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    Default Re: How to setup kinematics RTCP in KmotionCNC

    Quote Originally Posted by TomKerekes View Post
    Hi Amit,

    Thanks. Please answer questions #3 and #5.

    Regards
    Hi Tom,

    Answer 3- yes i compiled.

    Answer 5- yes tcp is working after replacing the old file.

    Thanks

    AMIT KUMAR

    Sent from my Lenovo K50a40 using Tapatalk

    Regards

    Amit Kumar


  20. #40
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    Default Re: How to setup kinematics RTCP in KmotionCNC

    Hi Amit,

    This is very strange. The only difference between it working and not working is we added this one line of code:

    if (m_MotionParams.TCP_Active)

    Please help us debug the error. Run the code in Debug Configuration (both Libraries and KMotionCNC) and place a breakpoint on this line and check if m_MotionParams.TCP_Active is true.

    (Of course you must execute G43.4 H1001 first)


    Regards

    Regards
    TK http://dynomotion.com


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