5 axis CNC router RTCP

# Thread: 5 axis CNC router RTCP

1. ## 5 axis CNC router RTCP

Hi Tom.
I built a 5 axis CNC router running kflop. He wrote under the postprocessor without RTCP for Power mill Everything works fine!

I would like to know whether the possible means kflop and C programs to implement RTCP?
https://infosys.beckhoff.com/english...ntrtcp.htm&id=

Perhaps there is an example C program for the non-standard machine kinematics, which can alter events themselves.
Here's my machine.

Regards Vasil

2. ## Re: 5 axis CNC router RTCP

Hi Vasil,

Very nice machine! Please tag the Video with Dynomotion or KFLOP if you don't mind.

We are working on more Kinematic support. I'd be willing to help you with the equations for RTCP to put in to a Kinematic module.

Do you know how your CAD system would like the angles specified in the GCode. Your configuration is a bit abnormal (Primary rotation about C).

Would A=rotate about X axis first, then B=rotate about Y axis second work for you?

Regards

3. ## Re: 5 axis CNC router RTCP

Hi Tom. Thanks for the help.
* Of course KFLOP write tags in the video!
With regard to kinematics, painted on the photo direction axes, think clearly will be the first B-axis rotates around the Z, the second axis A rotates around X
* Corners of all quadrupeds, they are depicted in the photo. So set postprocessor for my CNC router

And also here's a video postprocessor works

4. ## Re: 5 axis CNC router RTCP

Hi Tom. How are things going there to establish the kinematics file for my machine? Is it even possible to do it? Maybe there is some realties example that I tried to make myself kinematics with RTCP.
* Thank you.

5. ## Re: 5 axis CNC router RTCP

Hi Vasil,

Sorry I forgot to follow up on this. But it still isn't clear to me how the GCode should work. In your diagram the A axis is shown rotating about the X axis. But that changes depending on what your B axis is doing. So the question is what should the G Code A Axis specify? Should it specify the desired tool angle always about the X axis? Or the angle of your rotary Axis?

I think it is more common to have the GCode specify the angles of the desired tool orientation and the machine figures out what to do to achieve this.

Do you understand what I am asking? Maybe you could have your CAD system generate a few lines of GCode to drill a hole with the tool angled at 45 degrees about the X axis and another tilted 45 degrees about the Y axis to help understand this.

Regards

6. ## Re: 5 axis CNC router RTCP

Hi Tom.
I understand you, but I do not know how to explain how to engines should axis.
*Yet try ..
*If the axis B is in the 0 degree position, the axis A is rotated about the X axis. or by the rotation axis A, Y and Z axes must smeschatsya so that the tip of the tool was at one point.
*If the axis B is in a position 90 degrees, the axis A is rotated around Y-axis, and the rotation axis A, the axes X and Z have smeschatsya so that the tip of the tool was at one point.
*If the axis B is in a position 45 degrees, and the rotation axis A in order to tip the tool was at one point, to engines have all three linear axis XYZ diagonally to engines like an arc.
*I explained as best I could, I hope you understand me?

The archive has several G codes and an example C program for 5-axis kinematics.

*That something like this should to engines axis kinematics when properly configured, as in this video.

Regards

7. ## Re: 5 axis CNC router RTCP

Hi Vasil,

We finally got a test release with the TCPC for you to try.

Here is Test Version 4.34a

Release Notes

Here are the basic steps to configure KMotionCNC for what we call 5AxisGimbalAB Kinematics

\KMotion\Data
5AxisGimbalAB in file Kinematics.txt
Restart KMotionCNC

Tool Setup - Trajectory Planner
ABC - degrees
ABC Vel = 100deg/sec
ABC Accel = 1000deg/sec2
Jog Speeds ABC = 30 deg/sec
Rapids as Feeds

Tool Setup - Tool/Setup Files
Dialog Face = Basic 5 Axis

GViewer Setup
Inc ABC angles

Currently there is a hard coded distance (6 inches) in the CKinematics5AxisGimbalAB Class that is assumed to be the distance from the AB pivot point to the Tool Reference Point (ie face of spindle tool holder). The Tool Table length entry for the selected tool will extend from this point.

Here is a screen video of how to apply these settings and how the tool visualization should look. Please let us know of any issues you encounter.

Regards

8. ## Re: 5 axis CNC router RTCP

Hi Tom.
Thank you very much for your support.
Checked Test Version 4.34a is in simulation mode, everything works as it should. But when I run Test Version 4.34a requires FTD2XX.dll file which I was not in the system, it was necessary to download separately.
The machine will be able to test tomorrow and will write a report on the work of the kinematics
And another question. I have distance from the AB pivot point to the Tool Reference Point is not 6 inches and 8.62205 inches. Can I manually change this distance in Kinematics5AxisGimbalAB file?

9. ## Re: 5 axis CNC router RTCP

Hi Vasil,

Yes you should be able to modify that value and re-compile.

You should find the file FTD2XX.dll in the USB Drivers/i386 folder. Or installing the Drivers should install it.

Regards

10. ## Re: 5 axis CNC router RTCP

Hi Tom.
Today checked on the machine.
The Test Version 4.34a does not start on a computer running windows 7 64 bit ultimate throws an error (0xc000007b)
On windows 10 64 bit Test Version 4.34a works. In simulation mode it works fine, but when I initialize the configuration file, the axes do not move correctly. If you change the angle of the axis A, Z and Y axis goes somewhere far away, and then returned. When the angle D occurs the same, only move the X-axis and Y
Here is my config file

11. ## Re: 5 axis CNC router RTCP

Hi Vasil,

Hmmm. I notice you have your Velocities and Accelerations set very high. For XYZ you have 1000in/sec^2 which is over 2.5G!

Please try with very low accelerations and Velocities. Does it work then?

Are you moving with the Jog buttons or GCode G1 commands?

Regards

12. ## Re: 5 axis CNC router RTCP

Hi Tom.
In the machine settings, I have spelled out 10 in / sec ^ 2, and the fact that I sent in the screenshot I registered for the test. If any settings if you change the angle acceleration axis A manual movement (arrows) Y-axis and Z first depart far and then return to starting position. If you set the angle G code, a sort of working right but a very large distance from the AB pivot point about 20 inches and the Y axis moves in the opposite direction, although the linear movement of the Y axis is moving correctly. How can I invert the Y axis in CKinematics5AxisGimbalAB?

Regards

#### Posting Permissions

• You may not post new threads
• You may not post replies
• You may not post attachments
• You may not edit your posts
•