Hello,
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 :
[list type=decimal]
- 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).
[/list]
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 ?