Need Help! How to setup kinematics RTCP in KmotionCNC


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Thread: How to setup kinematics RTCP in KmotionCNC

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

    Hi Everyone,

    I am using Kflop controller which has kmotionCNC app.

    Everything is working fine exept kinematics or RTCP for my machine configuration.

    I am using XYZAC trunnion table but in kflop gcode interpreter this is not there. I need help with this to run RTCP for my XYZAC machine.

    Regards
    Amit Kumar

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    Gold Member TomKerekes's Avatar
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    Default Re: How to setup kinematics RTCP in KmotionCNC

    Hi Amit,

    I believe we were working with you and your co-worker. We asked some questions and there hasn't been a response.

    Its necessary to be able to home all axes to be able to define everything in consistent machine coordinates. Are you able to home all your Axes?

    Please make a diagram of your system's configuration that shows the locations of the rotary axes relative to the machine's origin.

    Regards

    TK
    http://dynomotion.com


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    Gold Member amitkumar171's Avatar
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    Lightbulb Re: How to setup kinematics RTCP in KmotionCNC

    Hi tom,

    Yes its right , we did homed all axes for our machine.

    and in our machine, XY Linear and AC Rotary are in table and Z is on head.

    And in axes A rotates around X, C rotates around Z. And we are using trunnion table,

    The problem we are facing is how to change that kinematics 5AxiskinematicsBC to 5AxeskinematicsAC.

    the optimisation we are getting is good but the only problem is we have to switch motors of X and Y to make it work. So is there any idea by which we are able to run TCP without switching motors in that kinematics, i tried changing parameters in that kinematics class but there is no effect on running.

    Thank You
    Amit Kumar

    Regards

    Amit Kumar


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    Gold Member TomKerekes's Avatar
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    Default Re: How to setup kinematics RTCP in KmotionCNC

    Hi Amit,

    I assume your system is something like this?



    Did you mean to say Kinematics5AxisTableBC?

    Are you able to compile the Libraries?

    I've attached a new Kinematic class called CKinematics5AxisTableAC derived from CKinematics5AxisTableBC that may work.


    In addition to adding the new class files to the project you will need to add this to StdAfx.h
    #include "Kinematics5AxisTableAC.h"

    Also allow it to selected by CoordMotion.cpp by adding:
    if (strstr(s, "5AxisTableAC") != NULL)
    Kinematics = new CKinematics5AxisTableAC;


    And select it by specifying 5AxisTableAC in \Data\Kinematics.txt

    HTH
    Regards

    Attached Files Attached Files
    TK
    http://dynomotion.com


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    Gold Member amitkumar171's Avatar
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    Default Re: How to setup kinematics RTCP in KmotionCNC

    Hi Tom,

    Yes i compiled all libraries in VC2015 by selecting BuildAllLibs.sln file in installation directory.

    But as you said " adding the new class files to the project " , in Which project do i have to add those class files that you attached, GCodeInterpreter.vcproj, GCodeInterpreter.vcxprojor other.

    and remaining as you said , i applied all the changes in
    StdAfx.h , CoordMotion.cpp but there is no optimization while rotating A, B, C. When i am running Z axis X, and Y moves, that is unnecessary.

    So first thing i want to know that i am doing right or not? if no then please tell me how to make it right.





    Regards

    Amit Kumar


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    Gold Member TomKerekes's Avatar
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    Default Re: How to setup kinematics RTCP in KmotionCNC

    Hi Amit,

    But as you said " adding the new class files to the project " , in Which project do i have to add those class files that you attached, GCodeInterpreter.vcproj, GCodeInterpreter.vcxprojor other.
    Add the two files to the GCodeInterpreter project. First copy the two files to the GCodeInterpreter directory. Then in VS2015 open BuildAllLibs.sln and right click on the GCodeInterpreter project in the Solution Explorer. Select Add | Existing Item and select the two files

    i applied all the changes in StdAfx.h , CoordMotion.cpp
    good. Did you also select it by specifying 5AxisTableAC in \Data\Kinematics.txt?

    but there is no optimization while rotating A, B, C
    I don't understand what you mean by "no optimization"

    When i am running Z axis X, and Y moves, that is unnecessary.
    If the A and C axes are not at zero, then when Z moves X and Y should also move.

    To verify A and C are at machine zero select "Machine Coord" in KMotionCNC and verify the A and C DROs show zero and are in Orange color.

    You might also set a breakpoint where TransformCADtoActuators() is called in CCoordMotion::OutputSegment(int iseg). On this line (1930)

    if (Kinematics->TransformCADtoActuators(p->x0,p->y0,p->z0,p->a0,p->b0,p->c0,p->u0,p->v0,Acts)) return 1;

    You should then be able to step through the code, verify the correct class is being called, verify A and C are zero, and step through the math.

    In order for RTCP to work correctly a number of things need to be defined correctly. That is why I thought a diagram and a good description of how things are homed and calibrated would save time. Is your Table similar to the one in the video I posted?

    HTH
    Regards

    TK
    http://dynomotion.com


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    Gold Member amitkumar171's Avatar
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    Default Re: How to setup kinematics RTCP in KmotionCNC

    Hi Tom,

    Yes i specified the 5AxisTableAC in \Data\Kinematics.txt
    By optimisation i meant the 5 axis kinematics on XYZ axis due to AC axis rotation.

    "If the A and C axes are not at zero, then when Z moves X and Y should also move"
    I have checked that, even with AC axis set to zero in machine coordinate, the other Axis are moving automatically when i try to move Z axis.

    I will try the other things you have said and let you know what the result is.


    "In order for RTCP to work correctly a number of things need to be defined correctly. That is why I thought a diagram and a good description of how things are homed and calibrated would save time. Is your Table similar to the one in the video I posted?"
    Yes the machine is similar to the one shown in the video.







    Regards

    Amit Kumar


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    Gold Member amitkumar171's Avatar
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    Default Re: How to setup kinematics RTCP in KmotionCNC

    Hi, Tom

    I have tried that file you sent , 5AxisTableAC class and header file.

    I built all libraries in VS 2015 and then added that class to gcodeinterpreter project and then rebuilding it.

    But after that when i am trying to move A axis and C axis, there is no movement in X, Y, Z.

    But When i move Z axis , X and Y moves

    When i move X Axis, Y and Z moves

    When i move Y Axis , X and Z moves.

    So i think the file you sent 5axisTableAC.cpp, 5axisTableAC.h are linked with wrong axis. I homed all axes machine coordinates also zero. So help me in setting below RTCP optimisation

    When i will move C, X and Y should move to maintain tool center point.

    When i will move A axes , Y and Z should move to maintain tool center point.


    Thank You

    Regards

    Amit Kumar


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    Gold Member TomKerekes's Avatar
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    Default Re: How to setup kinematics RTCP in KmotionCNC

    Hi Amit,

    I tried it here and it seems to be working properly for me.

    I built all libraries in VS 2015 and then added that class to gcodeinterpreter project and then rebuilding it.
    good.

    But after that when i am trying to move A axis and C axis, there is no movement in X, Y, Z.
    That actually should depend on where you are. If your position happens to be on the center of rotation of the A/C Axis then there should be no movement in XYZ.

    I'm thinking the wrong Kinematics Class is being selected. The behavior you are observing would occur if the CKinematics3Rod class was selected. That is the result if Kinematics is to be used but the name in the Kinematics.txt file doesn't match any of the defined types. That's why I asked you to set a breakpoint and verify the correct class is called.

    Maybe you miss typed the name in the Kinematics.txt ?? It should be 5AxisTableAC with no quotes

    Or the code change in CCoordMotion was not made correctly to select the new class. Did you miss adding an "else". It should be like:

    Code:
    		if (strstr(s, "5AxisTableAC") != NULL)
    			Kinematics = new CKinematics5AxisTableAC;
    		else if (strstr(s, "5AxisTableBC") != NULL)
    			Kinematics = new CKinematics5AxisTableBC;
    		else if (strstr(s, "5AxisGimbalAB") != NULL)
    			Kinematics = new CKinematics5AxisGimbalAB;
    		else if (strstr(s, "GeppettoExtruder") != NULL)
    			Kinematics = new CKinematicsGeppettoExtrude;
    		else if (strstr(s, "Geppetto") != NULL)
    			Kinematics = new CKinematicsGeppetto;
    		else
    			Kinematics = new CKinematics3Rod;
    On a side note I hadn't realized the code I sent has this defined:

    ASaddleZCenterpoint = 4.000; //Machine Z coordinate of A rotation axis

    This assumes the XYZ Origin is on the surface of the platen and the A rotation axis is 4 inches above that point. You will likely need to change that.

    HTH
    Regards

    TK
    http://dynomotion.com


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    Gold Member amitkumar171's Avatar
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    Default Re: How to setup kinematics RTCP in KmotionCNC

    Hi Tom,

    I have noticed that i had a wrong parameter " ASaddleZCenterpoint = 4.000; //Machine Z coordinate of A rotation axis" for my machine.

    When changing that
    ASaddleZCenterpoint according to our machine, everything seems to be running fine except direction of z.

    When i am moving Z by up arrow Z is going down

    and when i am moving Z by down arrow, Z is going up.

    I tried changing outputgain to -1 or direction reverse by stepper driver. but now Z direction in kinematics is reversed.

    And i already did all the things you said before.

    So How to resolve this issue i am facing with Z direction. ????

    and one more thing
    ASaddleZCenterpoint and CTableAZeroZZero parameters and i had to change everytime i change the tool height. Is there any solution for this too????

    Thank You



    Regards

    Amit Kumar


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    Gold Member TomKerekes's Avatar
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    Default Re: How to setup kinematics RTCP in KmotionCNC

    Hi Amit,

    Set OutputGain so Z moves in the correct direction (up arrow moves Z up).

    Maybe your A Axis is reversed?

    Please provide a clear example. What is your position (all axes)? What do you command? What happens?

    Regards

    TK
    http://dynomotion.com


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    Gold Member amitkumar171's Avatar
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    Default

    Hi Tom,

    Here is the example of my axes

    My X,Y,Z axes have output gain -1. Then x and y are going in right direction, as left arrow means negative and right arrow means positive.

    For y axis up arrow means positive down arrow means negative

    For z axis up arrow means dro is increasing value but it is going in reverse direction. As it is going downwards but dro is increasing its coordinates.

    My A axes has output gain 1 and at +90 angle, working bed is visible and in -90 angle working bed is on opposite side.

    Can you help me in settings it right by sending Initspindle6axis.c in which X, Y, Z, A, C has correct settings.

    May be gain or direction settings. And tell also that what should be the direction in stepper motor amplifier.

    One more thing i wanna addup is my homing is x,y,a,c are in center is zero but for z it is z max means z is zero on top of the z height.

    Thank You

    Regards

    Amit Kumar


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