The G68.2 for the Hurco post I am writing does not use the standard PRY output.
My understanding of the standard PRY is that it calculates the rotation about the first axis and then calculates the rotation of the second axis based on the orientatin after the first axis has been moved. similarly, the third axis rotation is calulated fron the postion after the second rotation.
The Hurco does not work like this. instead each rotation is calculated from the static or original coordinate system
The hurco also uses ABC instead of IJK, so dont be confused by the g68.2 line examples below
In the attached image, the G68.2 line output using standard NX euler type output (in this case XYZ) to get the coordinate system to rotate to the 45 degree anged face is G68.2 X0 Y0 Z0 A180 B-45 C0 However the machine requires the following result G68.2 X0 Y0 Z0 A0 B135 C180. There is an image attached of the machines controller simulation when using the A180 B-45
In NX I am using auto_3d to define the tool orientation, which uses the following rotation matrix to make the A180 and B-45 calculation. How do I get the output from this that the machine requires or is there another / better way to get the required output?
rotation_matrix m0 is 0.70710678118654757
rotation_matrix m1 is 0.0
rotation_matrix m2 is -0.70710678118654746
rotation_matrix m3 is 0.0
rotation_matrix m4 is -1.0
rotation_matrix m5 is 0.0
rotation_matrix m6 is -0.70710678118654746
rotation_matrix m7 is 0.0
rotation_matrix m8 is -0.70710678118654757
Solved! Go to Solution.
I dont know hurco but:
G68.2 - it should be euler angles - Z'XZ'' (P omited - default P0 option)
G68.2 P.. - there should be many options how it can interpret IJK addresses - projection, direct, spatial, vector, additional, points, ... as well.
G68.2 P1 Q123 - P1 some kind of angle interpretation, Q - angles order in IJK
(sorry I if discribe something wrong)