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5 axis transformation
https://forum.codesys.com/viewtopic.php?f=6&t=9223
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Author:  Perkins [ Mon Oct 15, 2018 5:20 pm ]
Post subject:  5 axis transformation

I wish to implement a 5 axis system for cutting square pipe with a cutting head able to move in the Y and Z direction with pipe feed in the X direction. In order to get bevel cuts the cutter can tilt forwards and backwards in the X direction but the bevel in the Y direction is achieved by rotating the pipe about the X axis and maintain cutting depth using TCP. Is this best achieved with a custom Kinematic or can I use a 5 axis transformation with the azimuth set to zero and then use a rotation transformation to rotate the correct angle around the X axis? Any help would be appreciated.

Author:  Edwin Schwellinger [ Tue Oct 16, 2018 10:59 am ]
Post subject:  Re: 5 axis transformation

Hi,
are you using robotics or CNC?
Is this correctly expressed by saying that you need a three-dimensional portal and an additional rotary axis which rotates (independently of the others) around one of the spatial axes?

As far as I know, the two rotary axes of the 5-axis transfo rotate around the Z axis and around the Z-rotated Y axis.
I.e. if you uses this, you have to rededicate X/Y/Z - but of course you can do this.

In the robotics case, I would suggest to take the 3-axis portal + C-axis.
Because of the "rededication": If his X should be the Z of the transformation (also Y->X, Z->Y) you can do this quite easily both in the CNC and in robotics: see G54 A/B/C or rotated PCS.


BR
Edwin

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