[No-Sauce1]

Hello I would like to know the math to convert a Plane Vector to a Plane Spatial. I know this changes depending on your machine configuration. The Machine I want to do this on is a DMU65 MonoBlock which from the Manual It uses a XYZ tilting sequence for Spatial. For Euler Angles this machine uses a ZXZ Sequence. This machine has an A-axis Which rotates around the X-axis. It also has a C-axis which rotates around the Z-axis.


I know how to get the rotation Matrix based on the Vectors but that is all. Also there are Singularities that will probably need to get resolved which is another issue. Can anybody help me do this?

[deadlykitten]

hy no-sauce i can handle plane geometry, create 2d cad software, etc

recently i stepped to 3d, and made a replica of a 5ax cnc, so to test a custom probing macro

let's talk i have 0 experience with heidenhian; i know okuma a bit

[No-Sauce1]

Here is a rotation matrix. I have attached it to the message. The correct result for this is PLANE SPATIAL SPA-90 SPB0 SPC-51.84. I am just not sure of the Equation/formula to get this answer.

[deadlykitten]

hy, nothing attached but please share:
... initial vector coordinates base.xyz, tip.xyz
... rotation angles
... rotation center xyz
... final vector coordinates base.xyz, tip.xyz

i will try to work from there, check things / kindly

[Superman]

hy, nothing attached but please share:
... initial vector coordinates base.xyz, tip.xyz
... rotation angles
... rotation center xyz
... final vector coordinates base.xyz, tip.xyz

i will try to work from there, check things / kindly

He did attach.... it's called PLANE SPATIAL, it has additional parameters that control how/if it moves to the new plane, it also, is nothing like an Okuma.
It controls the work origin placement in regard to the "swing point" of the rotation axes ( similar to TCPC ), and the programming planes.

No-sauce.... what is the full line you are using ? You are missing the extra bits for the full command.
I use the rotation, the new settings is now a new XYZ grid layout...
not at work, so can't verify my CAM outputs.

[No-Sauce1]

I managed to find the math for this and get it working using C++ and some math formula's I also used Eigen to shorten it up a bit. I have also learned that Spatial is using zyx convention (opposite of what I read in the manual.

1. First I calculate the rotation matrix from the right vector to normal vector
2. Find the cross product to finish the matrix
3. pitch = asin(-rotationMatrix(2, 0));
yaw = atan2(rotationMatrix(1, 0), rotationMatrix(0, 0));
roll = atan2(rotationMatrix(2, 1), rotationMatrix(2, 2));

I have also put a condition in there for singularities when the pitch is at 90deg