Gentlemen,
These questions require a little set up. Here goes.
1. The orthogonality of the cinci is not perfect (duh)
A. in 14 inches of Z motion the X axis walks .004 in.
B. in 14 inches of Z motion the Y axis walks .003 in.
C. in 120 inches of X motion the Y axis walk .006 in.
2. I have the linear compensation collected and implemented
3. The rotary axis compensation has not been collected.
4. The centerline of the spindle is not coincident with the
centerline of the A axis rotation
5. The centerline of the spindle is not coincident with the
centerline of the B axis rotation
6. The centerline of rotation of the A axis is not coincident with
the centerline of the B axis rotation.
7. I can collect an ordered set of points [commanded position X, Y,
Z, A, B - actual position X, Y, Z, A, B] for positions in 3D space.
8. question - are partial differentials the answer for 3D compensation?
9. question - is it possible to do this in real time?
10. question - whether real time or not does anyone have the time
(desire) to develop (or have developed) the equations to calculate
compensation values
(inputs would be the ordered set of point)
(outputs would be the comp values for X Y Z A B)
These comp values could be for use in
existing comp files or in dynamic comp.
11. question - is this a realistic goal? If not I will pursue
creating a function in my kinematics to correct the orthogonal errors.
thanks for comments and consideration
Stuart
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