TCP 5-axis kinematics

jsskangas wrote:

Good work, I think i need to update my linuxcnc as well.
TCP switching after pre-rotation seems to work well.


I have posted rotate macro in this thread earlier.
Look it as well.
Problem in my rotate macro is that it only translates active zeropoint to correct location.
If you have multiple zeropoints around part, other than active one will shifted wrongly.

jsskangas wrote:

Hello

Page 4

file is rotate.ngc

3D-Master wrote:

how do i get the G12.1 command? I have switched to 2.8 (pre something something) and compiled the switchKins.c and i can start the config but it doesnt recognize G12.1 P1/P0

13 src/emc/rs274ngc/interp_check.cc
@@ -109,6 +109,11 @@ int Interp::check_g_codes(block_pointer block,   //!< pointer to a block to be c
        NCE_CANNOT_USE_G53_INCREMENTAL);
  } else if (mode0 == G_92) {
  } else if ((mode0 == G_92_1) || (mode0 == G_92_2) || (mode0 == G_92_3)) {
  } else if (mode0 == G_12_1)
  {
    // kins-switch
    CHKS((block->p_number == -1), NCE_P_WORD_MISSING_WITH_G121);
    // CHKS((block->q_number == -1), NCE_Q_WORD_MISSING_WITH_G121);
  } else
    ERS(NCE_BUG_BAD_G_CODE_MODAL_GROUP_0);
  return INTERP_OK;
@@ -311,7 +316,7 @@ int Interp::check_other_codes(block_pointer block)       //!< pointer to a block
  }

3D-Master wrote:

so i successfully switched from 2.7.14 to 2.8 but now my servos create a biig following error because they somehow turn really sluggish. Is that correct? has there been some changes to how linuxcnc drives servos?

You will need to retrofit the "switchkins" branch github.com/rushabhGH/linuxcnc/tree/switchKins to your local code, all changed files.