5 Axis ParPort Stepper Setup with RTCP

This seems to just have worked for me, but might not work for you.

From the directory where 5axiskins.c is, try
sudo comp --install 5axiskins.c

If you get something like "comp: file not found" then instead use
sudo halcompile --install 5axiskins.c

In either case, pasted the terminal output here so I can see if it worked.

marq_torque wrote:

sudo halcompile --install 5axiskins.c

You can copy and paste from the terminal window, which is a bit easier than attaching screen shots.


As you have noticed, max5kins might actually work perfectly for you. I think that it is approximately identical but with a different pivot length.
try "maxkins" in your HAL file and see if that works.

As for 5axiskins:

It looks like you just deleted the references to C and joint 5. You can't do that, you needed to replace them with 0 so that the s2r function has the right number of arguments.

First, go back to the original 5axiskins and see if that works. If it does, then you can change things. But try maxkins first.

marq_torque wrote:

i tried maxkins. it has connection with C axis and Tool tip

Ah, yes, I forgot it has a Y axis that you don't have.

found one weird error when was MDi B axis = "linear move on line0 would exceed joint 2's positive limit"

Line 0 just means MDI. It probably means that there is something wrong with the kinematics calculations to that it returns a very large number for the Z correction.