Switchable Table Dual Rotary (tdr) Sim config
xyzab-tdr (switchable kinematics)
Demonstrations:
For a demonstration of XYZAB_TCP kinematics the user can run the preloaded demo gcode with the default offsets.
In the right hand panel of the axis gui sliders are provided to
- change the geometrical (x,z)-offsets as measured from the rotation-point of the A/B rotary-assembly to the
face center of the rotary A table. The offsets are visibly adjusted in the vismach simulation and represented by a red indicator
for the x-offset and a blue indicator for the z-offset.
- see the effects of misconfiguring the (x,y,z)-rot-point values used in the kinematics. These values represent the
physical position of the rotary-assembly in the machine as measured from the machine home position to the rotation-point
of the assembly. The rotation-point is identical to the intersection of the two rotational axes A and B when the (x,z)-offsets
are zero. When (x,z)-offsets are applied the rotation-point stays on the rotational B axis. The 'rot-point' as set by
these values as well as the true rotation-point of the rotary-assembly are indicated in the vismach simulation by a yellow cross
and a red sphere respectively.
NOTE:
For proper tool-path preview RELOAD THE CGODE after startup and after changing offset values.
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Note: IMPORTANT ini file requirements:
[HAL]
HALCMD = net :kinstype-select <= motion.analog-out-0N => motion.switchkins-type
[RS274NGC]
SUBROUTINE_PATH = ./remap_subs
REMAP = M428 modalgroup=10 ngc=428remap
REMAP = M429 modalgroup=10 ngc=429remap
[HALUI]
MDI_COMMAND = M429
MDI_COMMAND = M428
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