==3 Axis Cable Delta Robot by Александр Украинец==
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[https://docs.google.com/document/d/1FLZXM_LQojO0Z4cQUFxOFcynNfsAr4oe34-rbIXFz8E/edit?usp=sharing Shared Project Files]
==5 Axis Gimbal CB by Forum User kizilkaya==
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Class Name CKinematicsGimbalCB
Here is an RTCP Guide submitted by kizilkaya
There is a lot of complicated information about RTCP and it took me a long time to collect all this and deliver the machine to my customer, but I finally succeeded. RTCP works without any problems. I have prepared a detailed guide for those who do not want to experience difficulties like me. I would be happy if you share it.<br /><br />STEP 1 ) Adjust all axis settings very precisely, especially the angled axes.<br /><br />STEP 2 ) Kinematics.txt from Data.rar copy to C:\KMotion5.3.4\GCodeInterpreter<br /><br />STEP 3 ) Select Kinematic from Kinematics.txt according to your machine configuration. (e.g. Kinematics5AxisGimbalCB).<br /><br />STEP 4 )B and C axis positions must be set to "0 (zero)" as shown in the picture, otherwise the angled axes will tilt in different directions when RTCP is active.<br /><br />STEP 5 ) Open the C:\KMotion5.3.4\GCodeInterpreter\GCodeInterpreter.vcxproj file with Visual Studio and set the pivot as seen in the pivot.png image, then compile the project and create the GCodeInterpreter element.<br /><br />Now you can use rctp actively with "G43.4 Hx (x tool number)" and turn off rtcp with "G49".<br /><br />Example ;<br />Please first pull the x, y and z axes (taking the pivot length into consideration) to a safe area and edit the g code according to the C and B axis limits.<br /><br />G43.4 H1 G1 F3000 B0 C0<br />B90<br />B-90<br />C-180<br />C180<br />B0 C0<br />M30
[[File:pivot.png|none|link=|958x393px]]
[[File:Cosmeq.jpeg|none|link=|768x432px]]
Download Project [[Media:5AxisGimbalCBFiles.zip|Files]]