Im trying to do a 4 axis simulation for fanuc machine.
I am unable to get G68.2 and G53.1 to work in 4 axis setup.
I did try this with my own setup first and then with SIM04 fanuc mm of the box simulation.
In both Im getting error from CSE with G53.1 that Axis B is not defined.(see included picture).
53.1 command in CSE still looks for 5th axis even when kinematic chain is defined without 5th axis.
Do I need to define Dummy axis or what?
Has anyone countered same problem?
I did not tested it but try the following:
- create a dummy B axis
- set the GV_strFifthAxisName to "" in MCF File.
Inside the G53.1 metacode we call the following macroc ommands. As you can see we use global variables with the included 4 and 5 axis name.
<MacroCommand> <Name>GMe_SetJointValue</Name> <Param>GV_strFourthAxisName</Param> <Param>GV_dFourthAxisAngle</Param> <Param>FALSE</Param> </MacroCommand> <MacroCommand> <Name>GMe_SetJointValue</Name> <Param>GV_strFifthAxisName</Param> <Param>GV_dFifthAxisAngle</Param> <Param>FALSE</Param> </MacroCommand>
Inside the GMe_setJointValue method we use the isDefined function for this Alert message.
Still some problem, dummy axis helped simulation to run.
I did not give any vector for 5th axis in CSE.
But in simulation I still have problem.
Calculation of G68.2 is correct.
Then machine is commanded to Z3 this should be ok, but it goes to -933.003.
Is this behavies cause of 5-axis defined as dummy and not moving part.
I did try 5th axis with vector or no vector defined in CSE, it had same behavier.