TCP 5-axis kinematics

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29 Aug 2019 17:59 #143586 by plopes9000
Replied by plopes9000 on topic 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.


Thank you jsskangas.

Yes I did miss the macro you posted, which page?

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29 Aug 2019 18:12 #143588 by jsskangas
Replied by jsskangas on topic TCP 5-axis kinematics
Hello

Page 4

file is rotate.ngc

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29 Aug 2019 18:15 - 29 Aug 2019 18:15 #143590 by plopes9000
Replied by plopes9000 on topic TCP 5-axis kinematics

jsskangas wrote: Hello

Page 4

file is rotate.ngc


Yes totally missed it. Its a different approach. With the Haas like DWO, one rotates at will and then calls the DWO activation.
Last edit: 29 Aug 2019 18:15 by plopes9000.

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21 Oct 2019 16:48 #148482 by plopes9000
Replied by plopes9000 on topic TCP 5-axis kinematics
Got myself into scraping the mill ways ... this is going to take a while, hence no updates on the 5 axis for now.

Been on my mind for a while and now with the 5 axis really want to have a precise and smooth machine.

Scraping a single surface or a square is pretty easy, specially power scraping, scraping ways and dove tails is quite a bit trickier ... I think on a good way now - it’s been at least 3 weeks since I started.

Have also considered linear guides but putting it off for now.

Anyone else has updates?

Cheers,
Paulo

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02 Nov 2019 22:05 #149446 by 3D-Master
Replied by 3D-Master on topic TCP 5-axis kinematics
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

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02 Nov 2019 22:46 - 02 Nov 2019 22:55 #149451 by plopes9000
Replied by plopes9000 on topic TCP 5-axis kinematics

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


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

12.1 is defined here:
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
  }
Last edit: 02 Nov 2019 22:55 by plopes9000.
The following user(s) said Thank You: 3D-Master

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03 Nov 2019 14:00 #149490 by 3D-Master
Replied by 3D-Master on topic TCP 5-axis kinematics
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?

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03 Nov 2019 14:18 #149492 by plopes9000
Replied by plopes9000 on topic TCP 5-axis kinematics

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?


I’m using 2.9pre, can’t say I saw any change with regards to that. I use the Mesa 7i76 for step generation only.

Maybe someone else can comment on that behavior for 2.8.

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03 Nov 2019 14:19 #149493 by 3D-Master
Replied by 3D-Master on topic TCP 5-axis kinematics

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


can this be done with a Terminal? i am sorry but i have never done something like this and dont want do brick something.

I have seen that switchKins is for XYZAC machines, is there an easy way to change it to XYZBC like changing "JA" to "JB" and "a_rad" to"b_rad" or is the calculation completely different?

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03 Nov 2019 21:41 #149506 by plopes9000
Replied by plopes9000 on topic TCP 5-axis kinematics
Quite honestly I just used the github compare function github.com/LinuxCNC/linuxcnc/compare/mas...35dd0fce05aR112-R116 and file by file I manually updated the 2.9pre branch I had checked out.

There could be an easier way with github, but it was fine this way, not too many files and changes.

Regarding the AC vs BC, you can use the code from xyzbc-trt-kins.c and replace the switchkins.c code in the functions xyzabKinematicsForward and xyzabKinematicsInverse - yes the names already match ab ...

Since I have an AC setup, my updated switchkins.c file uses the AC code with my changes to allow TCP on a defined origin.
But if you use the BC code, I think its easy to extrapolate from my changes to the AC code and apply them to the AB code.

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