5 Axis ParPort Stepper Setup with RTCP

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

and also its syncing tool tip with Y axis and C axis not in XZ axis !

andypugh wrote:

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.

Sir any guidance where to dig now ?? :side:

marq_torque wrote: Sir any guidance where to dig now ?? :side:

Feed numbers into the calculations by hand, see if they come out the same in reverse.

I would use a spreadsheet for this. You will need to find the s2r functions in posemath.c (I think) in order to do this.

andypugh wrote:

marq_torque wrote: Sir any guidance where to dig now ?? :side:

Feed numbers into the calculations by hand, see if they come out the same in reverse.

I would use a spreadsheet for this. You will need to find the s2r functions in posemath.c (I think) in order to do this.

Where to find this file ?? and actually i am "0" in C ...

marq_torque wrote: Where to find this file ?? and actually i am "0" in C ...

Don't worry about not knowing C yet. I didn't know it until I decided that LinuxCNC needed to support 3-phase motors.

All the source code can be found here:
github.com/jepler/linuxcnc-mirror

Specifically
github.com/jepler/linuxcnc-mirror/blob/4...posemath/posemath.cc

(Which is C++ and that confuses me)

andypugh wrote: github.com/jepler/linuxcnc-mirror/blob/4...posemath/posemath.cc

Forget that, it has just been pointed out to me that the definition of s2r is right there in the kinematics file.