How to include Euler angles in a .nc file?

[Anonymous]

Hello all, 
I am trying to export additive multi-axis paths from PowerMill and I want my NC file with the following format: X, Y, Z, Rx, Ry, Rz. For that, I'm using Post-processor utility.
At first, I built my own .mtd file with all degrees of freedom at the head of the machine, but I had some problems with some paths maybe because my machine wasn't well configurated. For the Euler angles calculation, I used 'Machine A', 'Machine B' and 'Machine C' parameters. 
After that, I tried to use the "free kinematics" option in order to avoid problems with my machine configuration and  the previous machine parameters were no longer accepted, so I used 'Euler A', 'Euler B', and 'Euler C' to achieve Rx, Ry, and Rz, but I noticed that those parameters just outputs the proper angles when I ran the path with a robot (using the Robot simulation plug-in).
How can I generate the proper Euler angles without having to run the path on a robot? 
OR...How can I configure a proper .mtd file in order to generate those same angles?

Thank you in advance, 
Bernardo Freire 

[Anonymous]

Hi @Anonymous ,

First, move along X, Y and Z axes .Then rotate Z, then Y, and X around the transformed work-plane. to get the desired Euler orientation. Use the transformation converter to get the Axis-Angle values from Euler angle.

Regards,

Krupal V

[Anonymous]

Hello @Anonymous,

I'm using post-processor utility  2020 with the Euler angles convention Rot[X, Y, Z] static, so I want first move along, X, Y and Z and then Rotation along X, Y, and Z. It is just a reorganize the output parameters, no?
Sorry, I didn't understand. What parameters are you advising me to use in order to achieve what I want?
What do you want to mean with the transformation converter?
Thank you,
Best regards, 
Bernardo Freire

[Anonymous]

Hi @Anonymous ,

For better understanding use below link,

C:\Program Files\Autodesk\Autodesk PowerMill Robot Plugin 2020\Help

C:\Program Files\Autodesk\Autodesk PowerMill Robot Plugin 2020\Library\OMV

Regards,

Krupal V

[Anonymous]

@Anonymous  The .mtd file is attached.

Thank you.

BR, 
Bernardo Freire

[Anonymous]

Hi @Anonymous 

I have attached a sample for you. in your *.MTD you  have to define table ,Base, head, &  spindle position.

Some of them are missing. please ad it . give coordinate then we will see.

regards,

Krupal v

[Anonymous]

@Anonymous 

I do not want a well-defined machine, because I want to extract a machine-independent file, without having to deal reachability/joint limits problems. So the attempt to make the machine I sent you was to make a machine capable to reach every point with any orientation (and with all the degrees of freedom in the 'head').
That's why, after that, I tried to use the "free kinematics" option with the 'Euler A, B, and C' parameters, but also using this option I have to simulate the path on a robot.
I want simply to extract X, Y, Z, Rx, Ry, and Rz parameters in a machine-independent way, like the one we can see in the standard simulation of the path (where we only can see the tool and there are no reachability/joint limits problems).