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# tool vector calculation Pioneer

Hello,

Can someone know how to calculate the tool vector angle?

For instant:

CL File: GOTO 12.3, 50.2, 30.5 0, -0.5625358,0.99525365

NC File: G0 X12.3 Y50.2 Z30.5 A??   C??

Thanks!

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UG3.0
UG6.0
NX10.0.35
NX11.0.1
UG_NX is my favorite !!!!!!
8 REPLIES 8

# Re: tool vector calculation  Solution Partner Phenom

You no need to calc this angles manually (of course, you can do it if you want, but - no need). Open PostBuilder and create new postprocessor for your cnc machine. Define type of machine - table-table, table-head, head-head. Set axis for each table-head - C around Z, A around X etc. Save postprocessor and prostprocess any path. You will see needed angles. Thats all.

Another way - trigonometryc formulas, paper and pencil.

# Re: tool vector calculation Pioneer
Would I like to know trigonometric formulas for this?
-----------------------------------------
UG3.0
UG6.0
NX10.0.35
NX11.0.1
UG_NX is my favorite !!!!!!

# Re: tool vector calculation  Gears Phenom

That would be good to know.

I suppose there must be machine axis vector and tool axis vector in that calculation.

And after calculating some matrix - you need to extract angles.

Also calculate  XYZ positions from mcs goto according to rotation matrix.

I am really curious about it too.

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#♫ PB, 5ax, itnc, nx, vericut ♫ #

# Re: tool vector calculation  Solution Partner Phenom
Not so difficult.
IJK is tool axis vector.
If K not equal 1.00000 (or &lt; 0.9999999999) calc length = sqrt(i*i + j*j)
Divide i and j to length, normalize ij vector.
For AC table machine C will be arcsin(j/length), use i value to define sign and value for c angle (+- 3.141592...)
A will be arccos(K).

If you can use ugopen c angle will be UF_VEC3_angle_between( Y, ij_vector, Z) and you get C from 0.....360
Y is 0,1,0
Z is 0,0,1

# Re: tool vector calculation Legend
You can use this calculation only if the axis are orthogonal. If one or more axis are under an angle <> 90 degree, than you need another alogrithm.
Highlighted

# Re: tool vector calculation  Solution Partner Phenom
Of course, my formulas for classic AC table. But for any 5 axis cnc this calculations not so complex, more easy vis inverse kinematic task for robots..

# Re: tool vector calculation VIP

The postprocessor should output these angles. The calculations based onthe kinematics of the machine are part of NX.

Mark Rief
Retired Siemens

# Re: tool vector calculation  Solution Partner Phenom
Absolutely agree and my first answer a same.