I want to ask what is the best way, how to handle switching between 3 rotary axis.
I have milling machine where are these axis X,Y,Z,A,B,C . I create kinematic, but now I don't know how to switch between modes - one mode is 5axis with AC, second mode is 5axis with BC axis , maybe third one is 5axis machine with AB - but its not used.
I try to do it thru 2 kinematic chains, but no success. If I change kinematic chain manualy it works fine, but Im not able to find way how to do it automatically?
Can anybody give me a hint how to do it?
Attached is printscreen of my test kinematic model, base is from sim09.
Solved! Go to Solution.
the key variable is "GV_strSwivelingChainName"
This global variable is used as parameter in 5 axis transformation cse functions (calculateIKSLinears/angles, SetkinematicTransformation, ...) for TRAORI, TCARR, PLANE, G68.2, etc.
You have to find out which command on the real controller switches the current active chain. Which controller uses the machine? Maybe you can add a simple M code to switch between the chains.
Hope that helps
Yes i played with this variable, but .... no succces. I set to NC code my M fuctions to switch kinematic chain (just for try), but the worst problem was, that I wasnt able to switch this variable. Maybe I didnt use right command ... I tried SetVariable command, but if I want to set value as STRING ... it doesnt work.
Is it possible to change this variable?
So I wonder in way that I use one kinematic chain and I only change what is rotary 1 (A or B) ... but I dont know if is it possible ... i try it manually and it works.