Gentlemen, I have the geometric and angle compensations merged. I "move" the geometry using NCL and matrices and then calculate the position corrections and compare the results to the position of the matrices geometry. The matrices and calculated geometry match to seven place (the limit of the display in NCL). I have moved the geometry to 'many' positions and only get errors when approaching 90 degrees with either the A or B axes. I see the reason but will work on it later as the cinci moves A-20 +30 and B-30 +20. This now works for all values within these parameters. I have not included the orthogonal compensation yet. I think the compensation I have calculated can be both the forward and inverse as it is a calculated offset from the position command can be added to one side and subtracted from the other. No matter which direction the calculation is done the result is the same magnitude. I will work on the orthogonal tomorrow to see if it has the same characteristic. I have the orthogonal working on the cinci now. But when I put values in the correction for Z movement I get axis jumps when changing modes. Very small jumps but definitely noticeable. I think I know why. I should find out tomorrow. Thoughts, comments, corrections? thanks Stuart
---------- Forwarded message ---------- From: Stuart Stevenson <stus...@gmail.com> Date: Sun, Dec 14, 2008 at 8:17 PM Subject: 5 axis tool length - 5 axis pivot length To: "Enhanced Machine Controller (EMC)" <emc-users@lists.sourceforge.net> Gentlemen, From the looks of some of the current kinematics files I will assume two things: 1: the 5 axis tool length compensation is handled outside the kinematics file. 2: the pivot length compensation is handled inside the kinematics file. Unless otherwise advised I will construct my kins with these assumptions. I am compensating for an out of parallel condition between the A and X axes and an out of parallel condition between the B and Y axes and a condition where the center line of the spindle does not project through the A axis and a condition where the center line of the spindle does not project through the B axis and I am adding orthogonal compensation. The algorithm I have now is an inverse kins. I am working on the forward kins. Future readability has been mentioned. The algorithm gets complicated. Would these be better handled as separate calculations? A few gentlemen have a good idea of my coding skill (or lack thereof). I used the term 'skill' with a grain of salt. Possibly a kind soul would lend a hand on the final version. :) thanks Stuart ------------------------------------------------------------------------------ SF.Net email is Sponsored by MIX09, March 18-20, 2009 in Las Vegas, Nevada. The future of the web can't happen without you. Join us at MIX09 to help pave the way to the Next Web now. Learn more and register at http://ad.doubleclick.net/clk;208669438;13503038;i?http://2009.visitmix.com/ _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
