Stuart Stevenson wrote: > 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?
Not sure - my college math is a bit rusty. > 9. question - is it possible to do this in real time? Probably - it depends on how complex the errors are. A simple linear shift as the axis travels should be easy, if it wallows back and forth like a drunken sailor, not so easy. > 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. The existing comp is NOT sufficient. The current comp applies corrections to X base on the position of X only, ditto Y corrections are based on the position of Y only. In your case, you want to apply corrections to Y based on the position of X, and corrections to X based on the position of Z. Cross-axis corrections would be done in Kins I think. The corrections could either be added to your cinci-kins module, or put in their own maybe more generic module and somehow added "in series" with the cinci lins. > 11. question - is this a realistic goal? If not I will pursue > creating a function in my kinematics to correct the orthogonal errors. > It seems doable. I'm not sure how general the solution can be, there will probably always be some machine specific issues. I suspect trying to make it completely general will make the job quite a bit harder. Regards, John Kasunich ------------------------------------------------------------------------- This SF.Net email is sponsored by the Moblin Your Move Developer's challenge Build the coolest Linux based applications with Moblin SDK & win great prizes Grand prize is a trip for two to an Open Source event anywhere in the world http://moblin-contest.org/redirect.php?banner_id=100&url=/ _______________________________________________ Emc-users mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-users
