Re: 5th & 6th axis

["Till Franitza" <xfa-at-isw.uni-stuttgart.de>]

Jon wrote:
>No surprise there.  Yemc is a 4-axis user interface.  The other 2 axes are
>'leftovers' from using the quasi-6 axis version of the motion routines,
which
>move the 6 links of a hexapod machine, but commanded only by 3 degrees
>of freedom (XYZ, but no tilting of the platform).  Yemc is a hack to get
>one additional axis, but doesn't change the kinematics routines that really
>need to be overhauled to completely free them up for more general motion
>programming.  This IS being worked on, but there are substantial areas
>of the lower level EMC (especially the interpreter) code that were written
>for 3 degrees only.  With Yemc, you can manually jog the 4th axis, but you
>can't program it from MDI or move it in auto from a program.  But, that
>will come.  Since the kinematics for a basic machine tool are very simple
>(axis in => axis out) this shouldn't be a big change.  Programming 3
rotation
>axes as well as 3 cartesian axes on the Stuart platform (hexapod) is going
>to be the tough one.  If you want crash protection of an arbitrary
machining
>head against an arbitrary fixture profile, you might end up at the funny
farm!


We ARE at the funny farm here. We habe a big (18tons, 28kW-Spindle)
Steward-type-milling machine and we are planning to do a collision
detection. We are doing this not with EMC, but with ISG www.isg-stuttgart.de
controller.

I think if the 6 Axes of EMC work with "trivial" transformation, i will be
able to get a hexa working with it.
Till