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Hi Guys,

Maybe off topic, but i shouldn't know where else to post...

I was wondering, if it is in theory possible (G68 not supported yet, i thought) to define a rotated coordinate system with G-code? With this i could i could for example let my machine place a long shaft in a long hole. All i have to do then is add G-code to define de position and angle where i want to do so and the axial movement would be a simple G-code for a vertical movement. (see attached picture)

How should i do a workaround? Define a new/rotated kinematics module? Can i switch in HAL in runtime to another kinematics module?

Thanks, Bas

It looks on topic to me. I'm not sure what your asking maybe someone can chime in that knows. Nice SW picture. I'm a power SW user too.

John

I'm currently working on a system for a client if mine where i have to load a drill (round 3 mm) in a clamp (under an angle of 15 degrees with the horizontal plane), and with an x-y system move the drill onder a grinding stone. In the future we would take out the manual inserting of the drill in the clamp.

We were thinking about a fanuc robot, but with some goot tweaking it i think it would be possible to make our own robot with EMC2. The robot should pick a drill, and load this in the machine.

The big advantage is that my client has experience with G-coding. So when he wants to tweak around, he could do it himself. (change the position where he wants to pick the drill etc.)

Bas

Ok, I understand what your trying to do.

Take a look at the puma and scara sample configs.

John

One way to do this is by defining a kinematics module which does the rotation.
There is a component which does it in XY only, but you could extend it to XYZ.
If you code it right, you can have the UVW coordinate system attached to the things that rotate, so you can program your moves in UVW.
There should be a sample config that does a similar thing (5axis or so).

Regards,
Alex

Sweet,

so my kinematics module holds the calculations for the x-y-z axes, and also the (other calculations) u-v-w axes. That means the rotations of the axes are hard coded?
Going to look at the 5axis sample.

I'm going to come back to this.

Thanks,
Bas

Not hardcoded, you can export the rotation angles as hal pins from the kinematics module.
Then use pyVCP or some other method (even M-codes) to set the proper rotations.

Regards,
Alex