KRC2, KSS5.6, KR5002MT + track KL1500-3 + turntable
I am working on a small utility to automate the milling of revolved parts.
For this, I am using Rhino & Grasshopper, a CAD software with scripting capabilities.
There, I just have to manually draw the part profile and the script will automatically generate the KRL program.
I have identified 2 strategies :
- Kinematic Coupling of the turntable (rotated $BASE with Bas.EK()) : create a segmented spiral and follow it all over the part (the part will be faceted but I can make the discretization small enough).
- Kinematic Uncoupling of the turntable (fixed $BASE) : follow the profile from top to bottom while rotating the table (part will NOT be faceted).
My questions are about speed control.
My goal is to achieve constant radial speed of the TCP relative to the material (at about 2000mm/min). With strategy 2 I can control control & adapt the radial velocity by controlling the linear speed of the TCP along the profile curve, knowing the radius of my part at each point on the profile curve.
=> In general, in which base $VEL.CP is to be understand ? Is it $WORLD or $BASE ? In the latter case, will it mean that kinematic coupling of the turntable will be taken into account in the computation of the TCP linear speed, like in strategy 1?
=> I could not even find a way to ask the turntable to rotate a full turn at 5°/s for instance. There is no equivalent of $VEL.ORI for external axis right ? How should I proceed ?