5 Axis ParPort Stepper Setup with RTCP

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14 Sep 2015 06:30 #62540 by andypugh

but i need c axis to moving simultaneously with xzb


Yes. That is why you leave lines 51 and 72 as they are.

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14 Sep 2015 06:43 #62542 by marq_torque
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

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14 Sep 2015 07:18 #62544 by andypugh
No, I mean that joints[5] is replaced with 0 in line 44 and pos->c is replaced with 0 in line 65.

Or, quite possibly, something entirely different, but whatever is needed to map joints to coordinates and back again in a manner that accurately describes your machine.

If you want to avoid PmCartesian (and I admit, I have no idea what it does) then re-write it all in sines and cosines. It doesn't matter _how_ you do it, as long as it works.
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14 Sep 2015 07:22 #62545 by marq_torque
@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 ...

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14 Sep 2015 07:24 #62546 by marq_torque
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

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14 Sep 2015 17:14 #62553 by andypugh

i mean not sure if i am trying with broken kinematics or ini or hal ...


You are in a much better position to know this that anyone else. You have at least seen your kinematics, INI and HAL.

Have you recompiled and installed the kinematics file after making the changes?
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15 Sep 2015 02:58 #62577 by marq_torque
i am attaching my hal ini and kinematics files
Attachments:

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15 Sep 2015 03:13 #62578 by marq_torque
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 ??

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15 Sep 2015 03:34 #62579 by andypugh

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 ??


Where did you get the file from? It seems odd that you have the source code but don't know how to compile it.

Unless you compiled and installed the modified version you are still using the compiled version of the original file.
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15 Sep 2015 03:43 #62580 by marq_torque
/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 ?

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