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# How to implement the rtcp/tcpm with pmac?

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RTCP(Real-time Tool Center Point rotation)/TCPM(Tool Center Point Managment) is usefull in 5-axes machining, someone said it can be finished with the forward/inverse kinematic in pmac,but how? Is there some more detailed information?

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What is that exactly? Can you post a link to the source to which you are referring?

The Kinematics subroutines can be used to perform complicated algorithms in order to convert tooltip to motor positions (inverse kinematics) and vice versa (forward kinematics). If you need to perform some complicated coordinate system rotation algorithm, you can carry out all the necessary mathematical computations in the kinematics subroutines and then output the motor's position for PMAC to use.

Please refer to page 259 of the Turbo PMAC User Manual for more details on how to program the kinematics subroutines.

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What is that exactly? Can you post a link to the source to which you are referring?

The Kinematics subroutines can be used to perform complicated algorithms in order to convert tooltip to motor positions (inverse kinematics) and vice versa (forward kinematics). If you need to perform some complicated coordinate system rotation algorithm, you can carry out all the necessary mathematical computations in the kinematics subroutines and then output the motor's position for PMAC to use.

Please refer to page 259 of the Turbo PMAC User Manual for more details on how to program the kinematics subroutines.

RTCP refer to a technology that keep the tooltip following the workpiece while the A/B/C axes is rotating. Some details here:

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Here is an application note describing the kinematics we use in our NC to do this.

What is that exactly? Can you post a link to the source to which you are referring?

The Kinematics subroutines can be used to perform complicated algorithms in order to convert tooltip to motor positions (inverse kinematics) and vice versa (forward kinematics). If you need to perform some complicated coordinate system rotation algorithm, you can carry out all the necessary mathematical computations in the kinematics subroutines and then output the motor's position for PMAC to use.

Please refer to page 259 of the Turbo PMAC User Manual for more details on how to program the kinematics subroutines.

RTCP refer to a technology that keep the tooltip following the workpiece while the A/B/C axes is rotating. Some details here:

Tool Tip Compensation Using PMAC Inverse Kinematics.pdf

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Here is an application note describing the kinematics we use in our NC to do this.

Thanks for your reply and note.When rotating B axis,tool tip is still.If the tool tip is wished to do a segment or circle interpolation at the same time,for example,the tool tip do a circle movement and the B axis pointting to the circle center. Can this finished by the kinematic?

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But I seriously doubt about the following transformation refered in your file.

```Q7=Q7 + (Total_Length * SIN(Q2))
Q9=Q9 + ( Total_Length * COS(Q2))-TOTAL_LENGTH
```