5 Axis ParPort Stepper Setup with RTCP

andypugh, you mean 180.0 change to 0??


43 {
44 PmCartesian r = s2r(*(haldata->pivot_length) + joints[8], joints[5], 0 - joints[4]);
45
46 pos->tran.x = joints[0] + r.x;
47 pos->tran.y = joints[1] + r.y;
48 pos->tran.z = joints[2] + *(haldata->pivot_length) + r.z;
49 pos->a = joints[3];
50 pos->b = joints[4];
51 pos->c = joints[5];
52 pos->u = joints[6];
53 pos->v = joints[7];
54 pos->w = joints[8];
55
56 return 0;
57 }
58
59 int kinematicsInverse(const EmcPose * pos,
60 double *joints,
61 const KINEMATICS_INVERSE_FLAGS * iflags,
62 KINEMATICS_FORWARD_FLAGS * fflags)
63 {
64
65 PmCartesian r = s2r(*(haldata->pivot_length) + pos->w, pos->c, 0 - pos->b);
66

@andypugh,

i did removed 180 and made 0 and now joint 0 error coming, and also i tried after 4 degree of B axis, tried rotating C axis, it did work as needed, i mean not sure if i am trying with broken kinematics or ini or hal ...

one new error, all joints must be homed before going into coordinates mode. and also joint 0 error comes when i try to MDI B axis

i am attaching my hal ini and kinematics files

i did modified kinematics file, and i dont know how to compile ! ? and how to install, as i did backup of original file and modified existing. is is correct way ??

/emc2dev/src/emc/kinematics

i used file from this folder i suspected that current hal is using this file ... i am blank it was hit and miss .. sorry can you correct me ?? what i am doing wrong ?