https://forge.codesys.com/forge/talk/Motion/thread/b6bb2dee60/2022-09-12T11:56:10.476000ZRecent posts to The A/B/C axis problem of CNC interpolator in 6DOF robot2022-09-12T11:56:10.476000Z2022-09-12T11:56:10.476000Zburbhttps://forge.codesys.com/u/burb/https://forge.codesys.com849d009d8266ec68c8a34575704aa4c6880eeca2

<div class="markdown_content"><p>Thanks for any answers and suggestions.</p></div>

2022-09-12T11:53:23.792000Z2022-09-12T11:53:23.792000Zburbhttps://forge.codesys.com/u/burb/https://forge.codesys.com1325790a81f53ba81e22c030970b85a18b0a73f0

<div class="markdown_content"><p>Hello everyone, I have a problem when I used the CNC interpolator to move the A/B/C axis of 6DOF robot.</p> <p>When I set the A/B/C axis(SMC_NCInterpreter.eOriConv:= SMC_ORI_CONVENTION.ZYX) in G-code, the SMC_Interpolator.piSetPosition return me a large dA and dC, what's happened in the SMC_Interpolator FB?</p> <p>My G-code as follow:<br/> N000 G01 X420 Y0 Z445 A180 B180 C180 F1000<br/> N005 G02 X420 Y167 Z445 I-25 J80<br/> N010 G01 X500 Y0 Z445 A135 B180 C180<br/> N015 G02 X500 Y0 Z445 I100 J0<br/> N025 G03 X500 Y-155 Z445 I-30 J-80<br/> N030 G91<br/> N035 G01 Z50<br/> N040 G90 F50<br/> N040 G01 X420 Y0 Z500</p> <p>And I have catched the picture of piSetPosition dA/dC value in the attachments named "Set ABC.jpg". The dA/dC up to 5000deg.</p> <p>If I just set the A/B/C in G00, the robot seems to be worked well.<br/> N000 G00 X420 Y0 Z445 A180 B180 C180 F1000<br/> N005 G02 X420 Y167 Z445 I-25 J80<br/> N010 G01 X500 Y0 Z445<br/> N015 G02 X500 Y0 Z445 I100 J0<br/> N025 G03 X500 Y-155 Z445 I-30 J-80<br/> N030 G91<br/> N035 G01 Z50<br/> N040 G90 F50<br/> N040 G01 X420 Y0 Z500</p> <p>but the SMC_Interpolator.piSetPosition still return me a large dA and dC, I have catched the picture in Attachments named "do not set ABC in G01.jpg"</p></div>