4th axis tangent to path XY

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.

"sudo halcompile ---install tangentkins"

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

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?
 

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.

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)

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.