Setting up 5axiskins

andypugh wrote:

The preview window has very little idea how the actual machine is set up. You can change some things with the [DISPLAY]GEOMETRY= line in the INI file, but it will always assume that A revolves round X, B round Y and C round Z. (which is the normal axis naming convention)

Finally break trough! I solved following error on angular axis when jog in gantrykins. I had to increase max_acceleration and stepgen_maxaccel values on angular axes significantly.

So I switched now to my modified 5axiskins, and there I can jog everything accept B axis, where immediately Jont0 or Joint6 following error shows up.

The preview window has very little idea how the actual machine is set up. You can change some things with the [DISPLAY]GEOMETRY= line in the INI file, but it will always assume that A revolves round X, B round Y and C round Z. (which is the normal axis naming convention)

So there is no connection between what is in ini for GEOMETRY = XYZBC and kinematics module?

Just thinking ... if this kinematics module works tool tip center rotation, and lets say I want to run in MDI G0 B10 , and in case that emc by default thinks I have B axis parallel to Y, it needs to move also X and Z axis. In my case it should move Y and Z right? and I t should not even try to move it, but it does, if I enter that code...

Maybe solutions ...

- now my C axis rotates +/-185deg from home position and when homed B axis is parallel to X, would it help, if I rotate home position of C axis for 90deg, so it will make B homed parallel to Y and in this case I have +95/-280deg limits on C axis, and following by modification in post processor for cam.

- much simpler solution -> swap X and Y axis in emc2

Machine is up and running!

I had to do some more tuning on accelerations and velocities to work them all together...

andypugh Thank you for support!


From now on I am ex Mach3 user!

I am finally prepared to do first cuttings, but I noticed that there is missing something. Machine does compensation for the pivot length, but it doesn't take in account number from W column in tool table for specific tool.

Code is like:
T1 M03 G43

Do I need to specify also W axis in .ini, and any additional lines in .hal?

So, I managed to define also W axis in .ini file and when I run simple code as it is this one:

N01 T1 M06 G43
N02 G00 X400 Y300 Z20 B0 C0 M03
N03 G01 X50 Y50 Z30 F1500
N04 B90
N05 B0
N06 B-90
N07 B0
N08 M30

I can see it takes value from tool table and puts it in W axis (negates it) but machine it still rotates around distance from pivot length, so without added tool length value.
Should be there something added in .hal, related to W axis?

Tried to run same code also in 5axis simulation config included in emc2 and it happens the same thing ... something wrong with g-code?

hello

I try to compile .c file by sudo comp -install gantry.c

I meet the same error with yours, can you tell me the details about how to solve the problem?

eveytime I have to restart in order to modify HAL

THANK you!

OK~~~
thank you
I tried to learn compile 5axiskins.c in order to learn the compile ways ,
So that I can write a new .comp for my own machine

I have solved it, the reason is code in my .c file, I missed some section while I tried to modify some code in .c file.

smile~~~