> You misunderstand how G43/G43.1 work. They do not work differently
> for multiaxis machines.
>
> The tool table works as usual with G43 H_. G43.1 lets you specify the
> length directly in the gcode (G43.1 K___) and it sounds like you will
> not use this.
>
> The actual difference with the 5 axis kinematics machine is that you
> should specify [TRAJ]TLO_IS_ALONG_W=1. Then when you use G43 H_ or
> G43.1 K___, the length offset, no matter whether it comes from the
> tool table (G43) or gcode (G43.1), is applied to the W axis. The only
> thing your cam needs to do is move the W axis (G0 W0) so the length
> offset gets applied.
>
> Chris
>
>
(snip)
> On Fri, Feb 29, 2008 at 04:04:51PM -0600, Chris Radek wrote:
> >
> > The actual difference with the 5 axis kinematics machine is that you
> > should specify [TRAJ]TLO_IS_ALONG_W=1. Then when you use G43 H_ or
> > G43.1 K___, the length offset, no matter whether it comes from the
> > tool table (G43) or gcode (G43.1), is applied to the W axis. The only
> > thing your cam needs to do is move the W axis (G0 W0) so the length
> > offset gets applied.
>
> I wanted to add this for non-5-axis folks:
>
> This new option of TLO along W doesn't need special kinematics or 5
> axis machinery or anything else special. If you have a CNC knee on
> your knee mill, and you call it W, you could just as easily use it for
> tool length compensation. This would give you full quill travel no
> matter the length of the tool. Very neat.
>
> Chris
>
>
Chris,
You are correct. I didn't understand. I do now. Your way is the
way it should be done.
The Fanuc and Haas machines use the tool length in the tool table
but then for 5 axis tool length compensation they need to use G43.1
(Fanuc) and G143 (Haas). I have never understood why the need to have
two different codes, they work the same. If the machine will do 5 axis
tool length compensation it will do 3 axis compensation with the same
G code.
The only difference is you will need to begin using a positive
tool length offset for all your tool lengths. It is easy once you get
used to it.
Thanks for the explanation.
I am in the middle of changing the kinematics file to handle the
mechanics of the Cinci's. I will also implement the geometric
compensation I talked about. This will tell me for sure if it is
working correctly. I know it is working. I am confident it is correct
but I don't KNOW it is correct.
thanks
Stuart
ps. sorry for the incorrect subject in my previous reply
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