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Re: CSE simolation how to use W B axis setting offsets in heidenhain

Pioneer
Pioneer

Hi  thomas
     thank you very much.
I have a question.
now machine have two kinematic chain with A-C-Z-X-Y and A-B-Z-X-Y.
Machine execute X Y Z A C axis. I use B table rotation to enlarge offset.

it means machine work kinematic chain with A-B-Z-X-Y transform offset with nc command

( L B15.000 FMAX CYCL DEF 19.0 CYCL DEF 19.1 B15.000)

I want change offset (B rotation) combine to another kinematic chain(A-C-Z-X-Y) offset.

 

For example: nc command can execute position is ringt.

CYCL DEF 247 DATUM SETTING Q339=1
L X0 Y0 Z0 FMAX
M552
CYCL DEF 19.0
CYCL DEF 19.1 B90.000
L B90.000 FMAX
L X0 Y0 Z0 FMAX
M551
CYCL DEF 19.0
CYCL DEF 19.1 A-90.000
L A-90.000 FMAX
L X0 Y0 Z0 FMAX


how to set between two differet kinematic chain translate offset ?
Appreciate everyone's help.

Re: CSE simolation how to use W B axis setting offsets in heidenhain

Siemens Phenom Siemens Phenom
Siemens Phenom
Hi,

as far as I know, the cycle def 19 can´t be used to set additional rotational offsets. It always calculates and sets the swiveled plane on the origin coordinate system. So at first figure out if your NC code will work on the real controller as well.

My personal feeling is: I don´t think that your nc code will work on the real machine, but maybe a heavy TNC user can add here his expertise.

In general if you want to add offset to the current rotation you can use the command cse command. SetCoordinateJointValue. The new coordinate can then reused as parameter in the calculateIKSLinears and calculateIKSAngles cse functions.


Thanks
Thomas

Re: CSE simolation how to use W B axis setting offsets in heidenhain

Pioneer
Pioneer

hi Thomas

 

why I set machine zero is not in the  table center,  position is wrong?

 

I set machine zero in the table center ,  positon is right.

 

what's  meaning?

 

You can place the machine zero whererever you want but then you always have to ensure that the tmj and machine zero fit together. THIS IS A MUST! 

 

 

Re: CSE simolation how to use W B axis setting offsets in heidenhain

Siemens Phenom Siemens Phenom
Siemens Phenom

Hi,

 

 

sorry for the misunderstanding, I should have been a little more precise.

 

In general, when you setup a machine you have to ensure that  the tool mount junction matches the machine zero position when all axes are at 0 position. 

 

All further calculations which are based on kinematic chain depending on that setup. 

 

Thomas

Re: CSE simolation how to use W B axis setting offsets in heidenhain

Pioneer
Pioneer

Hi Thomas
     thank you very much.
I have a question :
The position with this machine execute only A Axis is ringt.
See nc code:
CYCL DEF 247 DATUM SETTING Q339=1
L X0 Y0 Z0 FMAX

M551
CYCL DEF 19.0
CYCL DEF 19.1 A-90.000
L A-90.000 FMAX
L X0 Y0 Z0 FMAX

The position with this machine execute only W B Axis is ringt.
See nc code:
CYCL DEF 247 DATUM SETTING Q339=1
L X0 Y0 Z0 FMAX

;M550
L W200 FMAX
L X0 Y0 Z0 FMAX

M552
CYCL DEF 19.0
CYCL DEF 19.1 B90.000
L B90.000 FMAX
L X0 Y0 Z0 FMAX

The position with this machine execute only W A Axis is wrong.
See nc code:
CYCL DEF 247 DATUM SETTING Q339=1
L X0 Y0 Z0 FMAX

;M550
L W200 FMAX
L X0 Y0 Z0 FMAX

M551
CYCL DEF 19.0
CYCL DEF 19.1 A-90.000
L A-90.000 FMAX
L X0 Y0 Z0 FMAX

Could you help me ?  Why The position with this machine execute only W A Axis is wrong?

 

  thank you

Re: CSE simolation how to use W B axis setting offsets in heidenhain

Siemens Phenom Siemens Phenom
Siemens Phenom

The problem was that the W offset value was added to a rotated transformation (CYCLE7_After19). I didn´t considered this at the beginning.... sorry. The W axis is always in Z direction and cannot rotate so I choose now the "Absolute" transformation which is on the top of the transformation stack and will not be rotated.

 

So I changed the W metacode in that way:

 

2018-11-08 10_33_29-XML Notepad - C__Users_feind_AppData_Local_Temp_re_mc_tp_1541664324060.xml.png

 

Another thing was to use the correct chain. With the M551 I activated the "A-C-Z-X-Y" chain. 

 

The result looks now like this.

(view in My Videos)

Re: CSE simolation how to use W B axis setting offsets in heidenhain

Pioneer
Pioneer

Hi Thomas
there are many Transformation in MCF file.
For example :EXTERN CYCLE7_After19 CYCLE19 ......

I want to know joint value stored in the coordinate object CoordinateObject.
I use the this command: getCoordinateJointValue(CYCLE7_After19, "X"), then MCF file run error.

How can get "X" or "Y" or "Z" value in "CYCLE7_After19" ?

thank you

 

Re: CSE simolation how to use W B axis setting offsets in heidenhain

Siemens Phenom Siemens Phenom
Siemens Phenom

Hi,

 

to query the current values from a transformation you have to do the following:

 

getTrafoMatrix("MYTRAFONAME") --> returns a matrix object

getMatrixTranslation(getTrafoMatrix("MYTRAFONAME")) --> returns translational part of the matrix

getVectorX(getMatrixTranslation(getTrafoMatrix("MYTRAFONAME"))) --> returns the X part of Vector as double 

 

alternative you can use 

getTrafoOffset("MYTRAFONAME", "X") --> returns X Value of given transformation

 

I personally prefer the first one.

 

Thomas

Re: CSE simolation how to use W B axis setting offsets in heidenhain

Pioneer
Pioneer

Hi Thomas

 thank you very much Thomas.

I confuse that I think  the value { the getVectorX(getMatrixTranslation(getTrafoMatrix("MYTRAFONAME"))) --> returns the X part of Vector as double , } is  same as the workpices offset which is table rotation.

see the picture two values are differents. a group Machine Status value(-8921.84,  -3891.23, -2449.19)

a group transformation ( -11146.0430, 0, 5897.6526)

 

 

Untitled.png

 

 The command which CYCLE DEF 19 rotate according the transformation which based on mechanical coordinates is right ?  If that is right, How  to get the position based on mechanical coordinates after the table rotate?

 

 

The  propose  I use this  transformation to calculate in A,C rotate. then A,C rotate base  this transformation to rotate.

 

 

  thank you

Re: CSE simolation how to use W B axis setting offsets in heidenhain

Siemens Phenom Siemens Phenom
Siemens Phenom
Hi,

the Machine Status displays the axis values in machine coordinates. Simply said its the result of all active transformations in machine coordinates. Where, on the other hand the displayed axis values from the entry in Variables are from
'EXTERN' transformation only. So thats the reason for the difference.

"How to get the position based on mechanical coordinates after the table rotate?" I didn´t fully got it. Why do you need that? For sure you can make all matrix or vector calculations you need within the xml and can calculate these values but I don´t think that you really need them.

Is there still an open issues? I had the impression that it works now?

Thomas

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