TCP 5-axis kinematics

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24 Jul 2019 13:49 #140431 by andypugh
Replied by andypugh on topic TCP 5-axis kinematics
The limits are a joint thing, so are largely unaffected by kinematics.
There is an argument that there should be secondary axis-space limits too.

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24 Jul 2019 14:54 #140433 by plopes9000
Replied by plopes9000 on topic TCP 5-axis kinematics

3D-Master wrote: How does Linuxcnc handle softends with TCPC? does it automatically stop when the physical axis hits the softend or does it just go through? (until it hits the endstop)


The overall behavior I have observed is that the soft limits are respected without issues. I have had a couple of cases where I jogged the A axis too fast leading to the soft limits being breached resulting in the message "Stop, fix joints axis LIMITS, then Restart".

I believe I had the speed set to 333 mm/s and acceleration to 1000 mm/s2 on all axis, things can happen pretty fast with xyzac tcp kinematics.

I do not recall having this issue outside of fast manual jogging with a too high of a step size.
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25 Jul 2019 23:13 #140587 by andypugh
Replied by andypugh on topic TCP 5-axis kinematics

plopes9000 wrote: Finally, see attached test gcode file and video.


I thought that your video was very instructive about what TCP is, and the Linuxcnc home page needed a new Showcase.

So your video is now on the front page of LinuxCNC :-)
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26 Jul 2019 16:15 #140660 by plopes9000
Replied by plopes9000 on topic TCP 5-axis kinematics
Thanks Andy :-)

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10 Aug 2019 01:18 #141834 by dgarrett
Replied by dgarrett on topic TCP 5-axis kinematics
@plopes9000

please keep me updated on the success of this code making it in?


commit to the master branch today:
github.com/LinuxCNC/linuxcnc/commit/5ea5...6e3759f85bb4037869f7

Would be good if you try the master branch and report
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