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Thread: How to setup kinematics RTCP in KmotionCNC

  1. #25
    Gold 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


  2. #26
    Gold Member TomKerekes's Avatar
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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

    TK
    http://dynomotion.com


  3. #27
    Gold Member amitkumar171's Avatar
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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


  4. #28
    Gold Member TomKerekes's Avatar
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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

    TK
    http://dynomotion.com


  5. #29
    Gold Member amitkumar171's Avatar
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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.

    How to setup kinematics RTCP in KmotionCNC-capture-jpg

    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


  6. #30
    Gold Member TomKerekes's Avatar
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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

    TK
    http://dynomotion.com


  7. #31
    Gold Member amitkumar171's Avatar
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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


  8. #32
    Gold Member TomKerekes's Avatar
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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

    TK
    http://dynomotion.com


  9. #33
    Gold Member amitkumar171's Avatar
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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


  10. #34
    Gold Member TomKerekes's Avatar
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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

    TK
    http://dynomotion.com


  11. #35
    Gold Member amitkumar171's Avatar
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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


  12. #36
    Gold Member TomKerekes's Avatar
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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

    TK
    http://dynomotion.com


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How to setup kinematics RTCP in KmotionCNC
How to setup kinematics RTCP in KmotionCNC