TCP 5-axis kinematics

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03 Nov 2019 22:21 #149509 by 3D-Master
Replied by 3D-Master on topic TCP 5-axis kinematics
i would like to add the code but i cant find the folders anywhere. SRC and EMC are nowhere. I checked "show hidden folders/files" but i cannot find them.

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03 Nov 2019 22:53 - 03 Nov 2019 23:56 #149510 by 3D-Master
Replied by 3D-Master on topic TCP 5-axis kinematics
by using the find command (find / -type f -name motion.h) i was able to find the file motion.h but at a completely different place.

on github it says src/emc/motion/motion.h but on my computer it is at /usr/include/linuxcnc/motion.h. how can i be sure that it is the correct file except looking at the code in github?

files i was able to find:

motion.h
kinematics.h
canon.h
emc.hh
emc_nml.hh

files i was not able to find:

control.c
command.c
Makefile
gcodemodule.cc
interp_array.cc
interp_check.cc
interp_convert.cc
interp_execute.cc
interp_internal.hh
interp_setup.cc
rs274ngc_interp.hh
rs274ngc_pre.cc
rs274ngc_return.hh
saicanon.cc
emccanon.cc
emctaskmain.cc
taskintf.cc
tp.c
Last edit: 03 Nov 2019 23:56 by 3D-Master.

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04 Nov 2019 07:35 #149531 by jsskangas
Replied by jsskangas on topic TCP 5-axis kinematics
You can also use my BC kin files attached earlier in this thread.
There is not yet switchKins implemented in my solution.

I will do a complete packet for xyzbc machine with switchKins as soon as I have some time.

Im hoping we will get this switching TCP on/off functionality out in next linuxcnc release?
When is next release date?

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04 Nov 2019 09:57 #149532 by plopes9000
Replied by plopes9000 on topic TCP 5-axis kinematics

3D-Master wrote: by using the find command (find / -type f -name motion.h) i was able to find the file motion.h but at a completely different place.

on github it says src/emc/motion/motion.h but on my computer it is at /usr/include/linuxcnc/motion.h. how can i be sure that it is the correct file except looking at the code in github?



That means you don't have the code installed - see linuxcnc.org/docs/master/html/code/building-linuxcnc.html on how to install it for the purpose of building it.


so for example:
paju@zx45:~/linuxcnc-other-builds$ git clone -b master git://github.com/LinuxCNC/linuxcnc linuxcnc-master-branch
Cloning into 'linuxcnc-master-branch'...
remote: Enumerating objects: 391, done.
remote: Counting objects: 100% (391/391), done.
remote: Compressing objects: 100% (254/254), done.
Resolving deltas: 100% (165971/165971), done.
paju@zx45:~/linuxcnc-other-builds$ cd linuxcnc-master-branch/
paju@zx45:~/linuxcnc-other-builds/linuxcnc-master-branch$ ls
bin           debian   ISSUE_TEMPLATE.md  linuxcnc-wizard.gif  README.md  src    unit_tests
configs       docs     lib                linuxcnc.xcf         rtlib      tcl    VERSION
COPYING       gnupg    linuxcnc.gif       meson.build          scripts    tests
COPYING.more  include  linuxcncicon.png   nc_files             share      TODO

Now all the master branch code is locally available.

you can do the same to the switchkins branch:
paju@zx45:~/linuxcnc-other-builds$ git clone -b switchKins git://github.com/rushabhGH/linuxcnc linuxcnc-dev-switchKins
Cloning into 'linuxcnc-dev-switchKins'...
remote: Enumerating objects: 218593, done.
remote: Total 218593 (delta 0), reused 0 (delta 0), pack-reused 218593
Receiving objects: 100% (218593/218593), 121.92 MiB | 5.80 MiB/s, done.
Resolving deltas: 100% (167268/167268), done.


to actually build it you need to do:

> cd linuxcnc-master-branch/src
> ./autogen.sh
> ./configure --with-realtime=uspace in my case ./configure --with-realtime=/usr/include/rtai --enable-non-distributable=yes
> make

then

> sudo make setuid
> source ../scripts/rip-environment
> runtests

of course you then need to apply the switchkin changes.
The following user(s) said Thank You: 3D-Master

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04 Nov 2019 10:45 #149535 by 3D-Master
Replied by 3D-Master on topic TCP 5-axis kinematics
thanks, i will have a look later

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04 Nov 2019 11:19 #149538 by plopes9000
Replied by plopes9000 on topic TCP 5-axis kinematics
Here is the patch that contains the changes I am using. includes switchkins, TCP based on orig and no position reset when homing on index.
Attachments:

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04 Nov 2019 12:13 #149539 by andypugh
Replied by andypugh 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?


No, that certainly is not correct.

I would suggest that you compare the new and old HAL files to see if the conversion has messed up the bit that sets the PID gains.

The other possible source of this problem is in the FF0 / FF1 / FF2 connections.

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05 Nov 2019 22:16 #149657 by 3D-Master
Replied by 3D-Master on topic TCP 5-axis kinematics
i am stuck at

./configure --with-realtime=uspace


it says:

Makefile:84: Makefile.inc: Datei oder Verzeichnis nicht gefunden
Makefile:95: *** Makefile.inc must specify RTPREFIX and other variables.


in ~/linuxcnc-master-branch/src i can see a file called "makefile.inc.in" and just "Makefile"

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06 Nov 2019 15:02 #149726 by andypugh
Replied by andypugh on topic TCP 5-axis kinematics
Did you run ./autogen.sh ? And did that work?

(You probably need to install auto-tools)

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08 Nov 2019 22:42 #149947 by 3D-Master
Replied by 3D-Master on topic TCP 5-axis kinematics
autotools were installed.

i needed to install some extra files and libraries and now it "makes" but then i get an error:

...
Linking halscope
Compiling emc/usr_intf/axis/extensions/emcmodule.cc
Linking python module linuxcnc.so
Linking ../rtlib/abs.so
ld: no input files
Makefile:1051: die Regel für Ziel „../rtlib/abs.so“ scheiterte
make: *** [../rtlib/abs.so] Fehler 1
stevie@stevie:~/linuxcnc-master-branch/src$

i have searched but havent found a solution :/

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