Trocomatic: processore di Gcode per lavorazioni trocoidali

[progress]

non era una critica sia chiaro...anzi ti ammiro per la testa che hai!!

mi sembrava un po' strano e volevo vedere cosa mi diceva il mio cam di un percorso simile.... chiaramente stiamo parlando di un cam professionale che di sicuro è stato sviluppato da un equipe, quindi a me è bastato mettere due parametri e schiacciare un tasto....tu avrai scritto come minimo 1000 righe di codice e tante ore spese....quindi chapeau!

[walgri]

Davvero, non la vedo come una critica, anzi !
Ti sono davvero grato, su Youtube di filmati con questo tipo di lavorazioni è pieno, ma a parte il turbinìo di trucioli non è riesca (io) a individuare bene cosa succede.

Anzi, se potessi pubblicare almeno qualche decina di righe di quel Gcode te ne sarei ancora più grato.

In effetti, questa cosa non me la fa fare nessuno, semplicemente mi pare interessante da approfondire.

Circa la lunghezza del programma scritto finora, tieni presente che ancora non ho sviluppato l'interprete e che l'offset dei poligoni è svolto da una libreria esterna: siamo sotto le 200 linee !

Uso Python perbacco, mica l'ho scelto a pera: potenza, eleganza, espressività e vasto ecosistema.

Tieni presente che gran parte di quello che ho scritto è la classe Vector, che compreso l'overloading degli operatori più comuni (somma e differenza di vettori, prodotto per scalare e altri ammennicoli. ed è pure stata scritta di getto con qualche errore di "architettura"), sta tutta qui:

Codice: Seleziona tutto

class Vector(object):
    def __init__(self, x, y):
        self.x = x
        self.y = y

    def norm(self):
        return (self.x**2 + self.y**2)**0.5

    def normalize(self):
        norm = self.norm()
        self.x = self.x / norm
        self.y = self.y / norm
            
    def normalized(self):
        return Vector(self.x, self.y) / self.norm()

    def __add__(self, other):
        return Vector(self.x + other.x,
                      self.y + other.y)

    def __iadd__(self, other):
        self.x += other.x
        self.y += other.y
        return self

    def __sub__(self, other):
        return Vector(self.x - other.x,
                      self.y - other.y)

    def __isub__(self, other):
        self.x -= other.x
        self.y -= other.y
        return self

    def __mul__(self, scalar):
        return Vector(self.x * scalar,
                      self.y * scalar)
    def __imul__(self, scalar):
        self.x *= scalar
        self.y *= scalar
        return self

    def __rmull__(self, scalar):
        return self.__mul__(self, scalar)

    def __div__(self, scalar):
        self.x = self.x / scalar
        self.y = self.y / scalar
        return self

    def __idiv__(self, scalar):
        self.x /= scalar
        self.y /= scalar
        return self

    def __truediv__(self, scalar):
        self.x = self.x / scalar
        self.y = self.y / scalar
        return self

    def rotate(self, angle):
        rx = self.x * cos(angle) - self.y * sin(angle)
        self.y = self.x * sin(angle) + self.y * cos(angle)
        self.x = rx

    def rotated(self, angle):
        v = Vector(self.x, self.y)
        v.rotate(angle)
        return v

    def __repr__(self):
        return "Vector({:f}, {:f})".format(self.x, self.y)

Insomma non c'è niente di eroico in quello che sto facendo: geometria vettoriale elementare e qualche prurito di troppo da grattare.

[progress]

ma senza alcun problema...

eccolo : p.s. ho lasciato Ae al 40% altrimenti viene molto fitto (come deve essere in realtà)

Codice: Seleziona tutto

O0001
(04/03/2015 23:59:03)
G90 G21
G92 X0 Y0 Z0
(FRESA CILINDRICA 4 VARIE)
(G10 L1 P4 X4 Z0)
T4 M06
G00 X113.051 Y174.37
G43 Z0 H04
(10000)
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G03 X65.666 Y86.979 I.545 J-.585 F755
G01 X65.997 Y86.006
G03 X69.782 Y87.293 I1.892 J.643
G01 X69.451 Y88.266
G03 X68.159 Y88.603 I-.757 J-.258
G01 X66.219 Y86.858 F1500
G03 X65.997 Y86.006 I.535 J-.595 F760
G01 X66.312 Y85.078
G03 X70.098 Y86.365 I1.893 J.644
G01 X69.782 Y87.293
G03 X68.5 Y87.639 I-.757 J-.258
G01 X66.545 Y85.939 F1500
G03 X66.312 Y85.078 I.524 J-.603 F757
G01 X66.638 Y84.12
G03 X70.423 Y85.407 I1.892 J.644
G01 X70.098 Y86.365
G03 X68.808 Y86.705 I-.758 J-.257
G01 X66.863 Y84.976 F1500
G03 X66.638 Y84.12 I.532 J-.598 F754
G01 X66.97 Y83.141
G03 X70.756 Y84.428 I1.893 J.644
G01 X70.423 Y85.407
G03 X69.129 Y85.743 I-.757 J-.257
G01 X67.192 Y83.992 F1500
G03 X66.97 Y83.141 I.536 J-.593 F761
G01 X67.285 Y82.216
G03 X71.071 Y83.503 I1.893 J.643
G01 X70.756 Y84.428
G03 X69.474 Y84.775 I-.758 J-.257
G01 X67.518 Y83.078 F1500
G03 X67.285 Y82.216 I.524 J-.605 F752
G01 X67.625 Y81.216
G03 X71.41 Y82.503 I1.893 J.644
G01 X71.071 Y83.503
G03 X69.772 Y83.835 I-.758 J-.258
G01 X67.841 Y82.063 F1500
G03 X67.625 Y81.216 I.541 J-.589 F759
G01 X67.944 Y80.279
G03 X71.729 Y81.566 I1.892 J.643
G01 X71.41 Y82.503
G03 X70.126 Y82.847 I-.757 J-.257
G01 X68.174 Y81.138 F1500
G03 X67.944 Y80.279 I.527 J-.602 F753
G01 X68.28 Y79.29
G03 X72.065 Y80.577 I1.892 J.644
G01 X71.729 Y81.566
G03 X70.433 Y81.9 I-.757 J-.258
G01 X68.499 Y80.139 F1500
G03 X68.28 Y79.29 I.538 J-.591 F750
G01 X68.627 Y78.269
G03 X72.412 Y79.556 I1.893 J.644
G01 X72.065 Y80.577
G03 X70.762 Y80.905 I-.757 J-.257
G01 X68.839 Y79.112 F1500
G03 X68.627 Y78.269 I.545 J-.585 F758
G01 X68.947 Y77.328
G03 X72.732 Y78.615 I1.893 J.643
G01 X72.412 Y79.556
G03 X71.127 Y79.9 I-.757 J-.258
G01 X69.176 Y78.186 F1500
G03 X68.947 Y77.328 I.528 J-.601 F757
G01 X69.272 Y76.373
G03 X73.057 Y77.66 I1.892 J.643
G01 X72.732 Y78.615
G03 X71.444 Y78.955 I-.757 J-.258
G01 X69.498 Y77.229 F1500
G03 X69.272 Y76.373 I.531 J-.598 F757
G01 X69.595 Y75.421
G03 X73.381 Y76.708 I1.893 J.644
G01 X73.057 Y77.66
G03 X71.769 Y78.001 I-.758 J-.258
G01 X69.822 Y76.278 F1500
G03 X69.595 Y75.421 I.531 J-.599 F751
G01 X69.937 Y74.415
G03 X73.723 Y75.702 I1.893 J.643
G01 X73.381 Y76.708
G03 X72.081 Y77.039 I-.758 J-.258
G01 X70.152 Y75.26 F1500
G03 X69.937 Y74.415 I.543 J-.588 F749
G01 X70.286 Y73.39
G03 X74.071 Y74.677 I1.892 J.644
G01 X73.723 Y75.702
G03 X72.419 Y76.029 I-.758 J-.258
G01 X70.497 Y74.232 F1500
G03 X70.286 Y73.39 I.546 J-.584 F751
G01 X70.628 Y72.382
G03 X74.414 Y73.669 I1.893 J.643
G01 X74.071 Y74.677
G03 X72.771 Y75.007 I-.757 J-.257
G01 X70.843 Y73.227 F1500
G03 X70.628 Y72.382 I.543 J-.588 F756
G01 X70.956 Y71.419
G03 X74.741 Y72.706 I1.892 J.643
G01 X74.414 Y73.669
G03 X73.124 Y74.008 I-.758 J-.258
G01 X71.18 Y72.273 F1500
G03 X70.956 Y71.419 I.533 J-.597 F755
G01 X71.287 Y70.444
G03 X75.073 Y71.731 I1.893 J.643
G01 X74.741 Y72.706
G03 X73.448 Y73.043 I-.757 J-.258
G01 X71.509 Y71.296 F1500
G03 X71.287 Y70.444 I.536 J-.595 F761
G01 X71.601 Y69.52
G03 X75.387 Y70.807 I1.893 J.643
G01 X75.073 Y71.731
G03 X73.791 Y72.078 I-.758 J-.258
G01 X71.835 Y70.382 F1500
G03 X71.601 Y69.52 I.524 J-.605 F760
G01 X71.917 Y68.591
G03 X75.702 Y69.878 I1.893 J.644
G01 X75.387 Y70.807
G03 X74.104 Y71.153 I-.758 J-.258
G01 X72.15 Y69.453 F1500
G03 X71.917 Y68.591 I.524 J-.604 F756
G01 X72.245 Y67.628
G03 X76.03 Y68.914 I1.892 J.643
G01 X75.702 Y69.878
G03 X74.412 Y70.217 I-.757 J-.257
G01 X72.469 Y68.482 F1500
G03 X72.245 Y67.628 I.533 J-.597 F755
G01 X72.574 Y66.659
G03 X76.359 Y67.946 I1.893 J.644
G01 X76.03 Y68.914
G03 X74.739 Y69.253 I-.757 J-.257
G01 X72.797 Y67.512 F1500
G03 X72.574 Y66.659 I.534 J-.595 F749
G01 X72.816 Y65.947
X72.948 Y65.587
G03 X76.689 Y66.997 I1.877 J.69
G01 X76.509 Y67.506
X76.359 Y67.946
G03 X75.048 Y68.266 I-.757 J-.257


troncato

G00 Z15.
G00 G28 G40 G49 G80 M05 M09
G28 G91 X0 Y0 Z0
M02
%

[walgri]

Grazie Progress !
Caspita che bello !

[walgri]

Un paio di domande:

è già la seconda volta che vedo un percorso simile a questo in cui l'elicoide di ingresso non è fatta con G2/G3 ma come sfilza di G1. C'è un motivo diverso oltre all'eventuale postpro non ottimizzato ?

E poi: trovo che ci sono frequentissimi cambi di F, si salta continuamente da F1500 a circa la metà. Come mai ? E come mai l'F dei G3 non è mai esattamente lo stesso valore ma oscilla attorno ai 750 ?

Grazie !

[progress]

lo sapevo.... un ingegnere non prende mai le cose per come gli si danno...deve sempre capire e domandare cose impossibili
naturalmente scherzo....


premetto che il postpro l'ho preso come è arrivato, perchè non è modificabile dall'utente (solo se paghi).

Quello che vedi in XYZ è l'ingresso fresa in elicoidale per "scavare" il foro di ingresso per poi partire in trocoidale. Potrebbe farlo come interpolazione di G2-G3 su due Z a mò di spirale, ma me lo fa cosi e non saprei come poterlo modificare. O forse semplicemente non è modificabile per strategia della casa.

Comunque ho visto molti post processor Fanuc o Selca fare lo stesso, ovvero in 3D procedere con le 3 coordinate.

Cambi di velocità: nelle impostazioni posso dire al cam se voglio mantene sempre la stessa velocità oppure rallentare nei cambi di direzione oppure se l'impegno fresa è maggiore di quello impostato.
Inoltre la fresa dopo aver impegnato il materiale, nel procedere nel punto di ritorno è libera e può procedere spedita fino al nuovo impegno, infatti va velocissima.
Altro caso da valutare è se è impostata la prefinitura nel CAM, cioè fa una passata di sgrosso piano e poi la ripete togliendo quasi nulla a velocità alta.

Per esempio nelle lavorazioni comuni, quando la fresa si sposta lateralmente per aprire la tasca la mia impostazione è del 50% del Feed richiesto.
Oppure quando la fresa entra in pieno, imposto il 40%, o vario in base alla durezza del materiale o velocità.

Inoltre se la strategia trocoidale non può essere attuata, devi dire al cam cosa fare. Es:

Stai fresando in trocoidale un canale da 10mm di larghezza con una fresa da 6mm, ad un certo punto il canale si restringe a 6.5mm di larghezza e le richieste di strategia sono troppo ampie per questo canale (angolo di impegno, percentuale di Ae e velocità.) quindi la macchina potrebbe andare in crisi o rompere la fresa se entrasse in pieno per quell'Ap con un Ae del 100%.
Quindi in quel caso il CAM ti chiede un alternativa del tipo : "nel caso che faccio?"
Tu imposti che quando i presupposti per la trocoidale non ci sono il cam esegue una fresata convenzionale, tornando in superficie, con un Ap congrua e un Feed e Ae ottimali per quell'utensile .
Finita la zona critica, se rientrano i presupposti per la trocoidale allora tutto riprende.

Ho fatto un pezzo cosi, se ti interessa ti giro il codice. Spero di essere stato chiaro, a volte è più facile di persona che via post.

concludo dicendo che la trocoidale è fatta per entrare nel pezzo con Ap altissime e in punti dove non è possibile procedere con tasche perchè fatte da lavorazioni lunghe e strette.
Inoltre la macchina deve essere potente e molto stabile perchè i continui cambi di direzione e jerk potrebbero smontare un hobbistica oppure pregiudicarne la durata della meccanica per le forze di inerzia generate.

[alberto863]

Tenete comunque conto che i G2 e G3, poi gli MC più moderni li spezzettano ed elaborano come G1. ciao

[walgri]

Mhmmm, a dire il vero mi aspetterei il contrario.

Il mio software di controllo, non so se sia moderno o meno, quando possibile manda alla scheda dei comandi più ad "alto livello" dei semplici segmenti: oltre a questi infatti può mandare direttamente archi di cerchio e tratti di curva del terz'ordine in forma parametrica.

Anzi, se incontra una serie di G1 che possono venire correttamente rappresentati come un arco di cerchio, entro una certa tolleranza impostabile, esegue un arc fitting e manda direttamente l'arco di cerchio.

Come poi vengano digerite dal firmware queste informazioni effettivamente lo ignoro.

[alberto863]

Intanto mi correggo che andavo di corsa, li trasforma in G00 G01, a seconda se sta andando in rapido o meno. Non voglio fare il saputello perchè non lo sono, sto solo studiando e giocando a fare un frammento di MC per verificare accelerazione/decelerazione/velocità supportate da un particolare stepper in relazione ad un eventuale interpolazione XY.

Detto ciò, essendo in un sistema cartesiano, e supponendo per semplicità che un singolo step faccia percorrere un "centimetro" sia in X che in Y, non vedo come riesca a disegnare un porzione di arco, qualsiasi essa sia, dal momento che ciò sarebbe ottenibile solo variando la velocità nel compiere lo step interpolato XY ed invece a mè risulta che si può solo variare la "pausa" fra uno step e l'altro.

Poi, se si è riusciti ad ottenere questa alchimia variando la tensione/corrente nell'esecuzione del singolo step, lo ignoro completamente.

Boh..

[Pedro]

...che ciò sarebbe ottenibile solo variando la velocità nel compiere lo step interpolato XY ed invece a mè risulta che si può solo variare la "pausa" fra uno step e l'altro.

e mi hai detto niente? Se invece di un centimetro, in meccanica si usano di solito i mm, facciamo che un singolo step faccia compiere 10 micron e se ogni 100 di questi step l'altro asse compisse un solo step, poi invece due, e poi invece 4, poi al successivo 8 avremmo una curva esponenziale, potremmo con così tante divisioni farne anche sinusoidali, quadratiche, cubiche, iperbolidi..... Il discorso è semplice dopotutto, è come un foglio di carta millimetrata con più divisioni per millimetro, quindi precisa, ogni curva sarebbe assimilabile ad un insieme di punti di coordinate precise, quasi..dipende dalla risoluzione della macchina. Anche uno schermo TV o del Pc è composto da un insieme di punti dopotutto, e altro che curve, vedi paesaggi, film e via dicendo. Estendendo il discorso: certo che se parliamo di step (che sarà la nostra unità minima di misura) verrà comunque una spezzata ma anche la rappresentazione numerica, per quanto si vada a precisioni alte, anche 64 o128 bit con mantissa ed esponente, è sempre "digitale" quindi anche con una alta risoluzione ma pur sempre una spezzata

[walgri]

Consentitemi una divagazione simil-filosofica (di farne una vera non sono capace)

Se ragioniamo alla scala della risoluzione macchina non abbiamo nessuno spostamento, no G0 G1 G2 et cetera, ma solo dei "tic" o "silenzio" a seconda di quel che viene fuori da Bresenham (o chi per lui) nei tre assi geometrici e nell'asse del tempo. Neanche il migliore e più costoso controllo del mondo può sapere cosa accade tra un "tic" e l'altro. A quella scala è come cercare di ingrandire una immagine "pixelosa", non si riesce a cogliere nulla di più, anzi si perde di vista completamente l'immagine.

Allo stesso tempo, e cerco di tornare al topic, approssimare una elicoide con dei G1 non è la stessa cosa di quello che fa, a scala "infinitamente" più piccola, il controllo, il quale lavora appunto alla scala della risoluzione della macchina.

Evidentemente se l'approssimazione tramite G1 è abbastanza fitta le differenze saranno irrilevanti, come in effetti sono, visto che l'esempio da cui è partita la mia domanda è un CAM professionale con i controattributi. E appunto la domanda non verteva sul fatto che l'approssimazione fosse adeguata o meno, ma come mai non ci fosse direttamente un G2/G3 con spostamento in Z.

Il motivo della domanda è semplicemente dovuto al fatto che se voglio provare questo passatempo che è Trocomatic con i percorsi generati dal mio cam, che come credo sia noto è attualmente BlenderCAM, non posso chiedergli di generare ingressi in elicoide nel pezzo, perchè a quel punto, con il diametro dell'utensile fittizio pari al diametro della trocoide, potrebbe pure non essere possibile per motivi di ingombro. Quindi devo filtrare gli affondi a tuffo e trasformarli in elicoidi: farlo tramite G1 o G2/G3 mi cambia solo di un loop for, ovvero niente, ma trovo l'uso dei G2 o G3 più elegante.

Quindi andrò con G2/G3.

[progress]

quello che ti posso dire è che nel percorso che ho generato di esempio, è impostata l'ottimizzazione per i percorsi G2/G3 e mi è stato spiegato che il CAM decide autonomamente in base a quello che ritiene meglio (o che ritiene meglio chi lo ha realizzato).

Quindi i percorsi in Z variabile su un cerchio, preferisce farli cosi... di più ninzò!!!

Comunque, l'esempio è abbastanza critico perchè di solito una lavorazione cosi la si fa diversamente, e poi c'è sempre il vecchio trucco di fare un foro per fare entrare la fresa a tuffo.

P.s. Walgri, se vuoi fare una lavorazione trocoidale, si capisce che vuoi affondare almeno di Ap=D , quindi se entri a tuffo nel pieno sei un pazzo.... se poi è acciaio, sei doppiamente pazzo...

guarda questo video...

https://www.youtube.com/watch?v=S-DB2Vmr0qw

vedrai che nella trocoidale devi tenere conto di un angolo di impegno richiesto dal cam.... è li che stà il fattore che regola la fresatura.
Nel video si capiscono diverse cose.

[walgri]

Pazzo e squilibrato lo sono, ma non da entrare a tuffo nell'acciaio

No no, niente tuffi, dico al cam di tuffare, ma poi trasformo il tuffo in uno scivolo d'acqua restando dentro quello che il cam crede essere l'ingombro dell'utensile.

E poi io lavoro materiali teneri: legno, plasticacce varie, che acciaio.
Se proprio dovesse essere utile a qualcosa è proprio per diminuire il calore sul pezzo. Vorrei provare, caso mai lo finisca a vedere i percorsi con Ap >> D. Chissà il cimitero di frese...

PS ho visto ora del video, me lo guardo. Grazie !

[progress]

se ho tempo faccio un percorso trocoidale e lo filmo, vediamo se spacco qualcosa

anche se per ora ho lasciato la fresa a cuccia perchè mi sto coccolando il tornio

[walgri]

Eh, quel tornio... peccato per sto Tirreno di mezzo.

Però il filmato... vedere quelle frese impegnate per tutta l'altezza del tagliente, e quei trucioli come i capelli della fata turchina...