4th axis tangent to path XY

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20 Oct 2015 22:39 - 20 Oct 2015 23:07 #64008 by mgenton85
i dont know the lanuage that the tangentkins is wrote in i also dont know where all the variables come from and what they do is there a list that explains what variables there are and what they do so i can work backwards and understand tangentkins ?

with the trajectory planner is there way to link the direction of movement to a c axis?


(side notefor those who dont know what i am aking about) infosys.beckhoff.com/english.php?content...axistracking.htm&id=
Last edit: 20 Oct 2015 23:07 by mgenton85.

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20 Oct 2015 23:19 #64011 by andypugh
Tangentkins is written in C.

To avoid C-axis following errors the simplest solution is to set the f-error limits very wide. There are no trajectory limits on the C-axis with tangentkins.

I don't think that tangentkins is a good solution.

linuxcnc.org/docs/html/motion/kinematics.html

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24 Jul 2022 10:49 #248162 by rajsekhar
Hello friends,

I need to use tangential and decided to make a trial for "tangentkins.c"

I got the file. But, as I am not a computer expert, please guide me how to install.

My Linuxcnc version is attached in photo.
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24 Jul 2022 18:43 #248190 by andypugh
"sudo halcompile ---install tangentkins"

Should compile and install it. But it doesn't work very well.

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25 Jul 2022 01:55 #248213 by rajsekhar
raycnc1@debian:~$ sudo halcompile --install tangentkins.c
[sudo] password for raycnc1:
Traceback (most recent call last):
  File "/usr/bin/halcompile", line 1508, in <module>
    main()
  File "/usr/bin/halcompile", line 1492, in main
    shutil.copy(f, tempdir)
  File "/usr/lib/python2.7/shutil.py", line 139, in copy
    copyfile(src, dst)
  File "/usr/lib/python2.7/shutil.py", line 96, in copyfile
    with open(src, 'rb') as fsrc:
IOError: [Errno 2] No such file or directory: 'tangentkins.c'
raycnc1@debian:~$

=================================
the above result happened while installing.

which folder tangentkins.c should be placed to succeed?
 

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25 Jul 2022 07:56 #248224 by rajsekhar
Dear Andy,

I finally installed tangentkins.c and tangentkins.so generated (photo attached).

My machine is a XYZA configuration. Actually I modified tangentkins.c (attached) to C axis before installtion. But no Ca xis (joint 6) pin shows.

what to do next?? Kindly help.
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25 Jul 2022 09:52 #248230 by andypugh
Either have JOINTS = 6 in your INI, or put the C axis on joint 3 in the kinematics.

LinuxCNC separates the joins and the axes, C might be 6th in the sequence, but as you have no A or B it is the 4th joint. (index 3, as the first joint / X is Joint 0)

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25 Jul 2022 15:41 #248263 by rajsekhar
Well, I left the C axis option and shifted to XYZA configuration to test the tangentkins. Actually C axis could not be configured, however I will solve that later.

Now, I installed the Andy's Tangentkins.C file (attached). tangentkins.so generated.

Entered loadrt tangentkins in in HAL .
In custom hal, setp tangentkins.auto 1.
HAL pin tangentkins.auto is showing active in HAL watch, yellow round signal.

But If I jog, x or Y or X-Y both, A axis does not move. Atleast the DRO in Gmoccapy does not show any reading.

How to solve??

HAL, Custom.hal, ini file attached.
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25 Jul 2022 18:04 #248272 by andypugh
You will need to home the system first before kinematics will become active.

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25 Jul 2022 18:05 #248273 by andypugh

You will need to home the system first before kinematics will become active.

(setting kinstype to "IDENTITY" might fix this, but homing is going to be needed anyway or the C axis will point in a random direction) 
 

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