TCP 5-axis kinematics

Are you running the recent version of switchable kinematics (ie s_kinsV2 or current master) and which kinematic are you using?

I'm so sorry for the late reply.
KINEMATICS = xyzac-trt-kins
If I change the JOINTS = 5 to 6, show the attached errore.
I'm not familiar with programming, but I set it up one year ago.
 

Are you running the recent version of switchable kinematics (ie s_kinsV2 or current master) ?

Also please attach your hal and ini files.

[edit]

I just checked and the recent version should report:

So it seems to me that you need to build current master to proceed further.

To use multiple joints for an axis letter with xyzac-trt-kins,
you need a very recent (after 19jun21) build of the master
branch which incorporates:

github.com/LinuxCNC/linuxcnc/commit/135b0ce52

Suggest:
0) install current master branch from buildbot
   (or build as RIP)
1) first test the demo config:
   select the demo xyzac-trt config from the directory:
   configs/sim/axis/vismach/5axis/table-rotating-tilting
   $ linuxcnc xyzac-trt.ini
2) Copy the demo ini file:
   $ cp xyzac-trt.ini test.ini
3) Edit the test.ini file to specify coordinates=xyzacy for:
   x: joint_0
   y: joint_1,joint_5
   z: joint_2
   a: joint_3
   c: joint_4
Example modifications:
   [KINS]
   KINEMATICS=xyzac-trt-kins sparm=identityfirst coordinates=xyzacy
   JOINTS=6
   ...
   # modify JOINT_1 for HOME_SEQUENCE:
   [JOINT_1]
   HOME_SEQUENCE = -1
   ...
   # new section for JOINT_5:
   [JOINT_5]
   HOME_SEQUENCE = -1
   ...

Attached is an example test.ini

 

Thank you so much. I will try upgrading to the latest version.

Good morning all ,

I have a major problem, I can no longer install my "switchkins" branch. I have a problem with the "git checkout dgarr / s_kins" command line.

Do you have the same problem ?

Thanks for your help

Hello ,
Please excuse me, but I don't quite understand. I do not have a high enough level under linux. do you mean i need to run the line with "sudo"?

Thank you

You should install linuxcnc-master branch:

Thank you for these informations ,

But i want to run xyzac-trt.ini and i have this message ...


jack@jack-linuxcnc:~/linuxcnc-master/configs/sim/axis/vismach/5axis/table-rotary-tilting$ linuxcnc xyzac-trt.ini
LINUXCNC - 2.9.0~pre0
Machine configuration directory is '/home/jack/linuxcnc-master/configs/sim/axis/vismach/5axis/table-rotary-tilting'
Machine configuration file is 'xyzac-trt.ini'
check_config: Unchecked: [KINS]KINEMATICS={xyzac-trt-kins sparm=identityfirst}
Starting LinuxCNC...
Found file(LIB): /home/jack/linuxcnc-master/lib/hallib/basic_sim.tcl
setup_kins: cmd=loadrt xyzac-trt-kins sparm=identityfirst
HAL: ERROR: version code mismatch
HAL_LIB: ERROR: could not init shared memory
hal_lib: rtapi_app_main: Invalid argument (-22)
Note: Using POSIX realtime
xyzac-trt-kins: dlopen: /usr/lib/linuxcnc/modules/xyzac-trt-kins.so: undefined symbol: hal_exit

msg=waitpid failed /usr/bin/rtapi_app xyzac-trt-kins
/usr/bin/rtapi_app exited without becoming ready
insmod for xyzac-trt-kins failed, returned -1

setup_kins: unknown [KINS]KINEMATICS=<{xyzac-trt-kins sparm=identityfirst}>
HAL: ERROR: version code mismatch
HAL_LIB: ERROR: could not init shared memory
hal_lib: rtapi_app_main: Invalid argument (-22)
Note: Using POSIX realtime
motmod: dlopen: /usr/lib/linuxcnc/modules/motmod.so: undefined symbol: hal_stop_threads


core_sim: loadrt motmod FAIL
     msg=waitpid failed /usr/bin/rtapi_app motmod
/usr/bin/rtapi_app exited without becoming ready
insmod for motmod failed, returned -1

Shutting down and cleaning up LinuxCNC...
Note: Using POSIX realtime
LinuxCNC terminated with an error.  You can find more information in the log:
    /home/jack/linuxcnc_debug.txt
and
    /home/jack/linuxcnc_print.txt
as well as in the output of the shell command 'dmesg' and in the terminal
jack@jack-linuxcnc:~/linuxcnc-master/configs/sim/axis/vismach/5axis/table-rotary-tilting$


thank