TCP 5-axis kinematics

More
15 Jul 2021 15:48 - 15 Jul 2021 15:56 #214888 by Aciera
Replied by Aciera on topic TCP 5-axis kinematics

yes, I got there now I have version 2.9pre under Dabian 10.

I am now looking to install the switchkin branch with buildbot.


If might be important to deinstall 2.9pre in synaptic manager prior to trying to reinstalling current 2.9pre. The procedure to uninstall the installed version of linuxcnc in Synaptic Package Manager can be seen in the video I posted.
But I'm really not sure why you insist on not using the official 2.8.2 ISO and update that to current master.

[edit]

maybe there is a misunderstanding and you already have updated to current 2.9pre? Have you checked if millturn config is available in the configuration picker?

[edit]

this here might help to find where to look for the sim config:
forum.linuxcnc.org/16-stepconf-wizard/43...atics?start=0#214810
Last edit: 15 Jul 2021 15:56 by Aciera.

Please Log in or Create an account to join the conversation.

More
15 Jul 2021 16:04 #214892 by JackRay
Replied by JackRay on topic TCP 5-axis kinematics
OK, thanks ,
it works I didn't understand that it was necessary to open an xyzac simulation and then save it.
the language barrier is not always easy ...
I will now put my config.
it is much simpler than all the compilations that I have been able to perform (search for all sources) etc ...

thank you all

Please Log in or Create an account to join the conversation.

More
15 Jul 2021 16:09 #214894 by Aciera
Replied by Aciera on topic TCP 5-axis kinematics

I didn't understand that it was necessary to open an xyzac simulation and then save it.

That is not really necessary. The reason why I wanted you to check the simulation configs is because that is an easy way to find out if you have 2.9pre with switchable kinematics installed.

Anyway, I'm glad you got it working.
 

Please Log in or Create an account to join the conversation.

More
15 Jul 2021 16:12 #214895 by REX299
Replied by REX299 on topic TCP 5-axis kinematics
Hi look through your configuration file, it seem have to put offset value in to .Ini file instead of Hal file?

Please Log in or Create an account to join the conversation.

More
15 Jul 2021 16:25 #214896 by JackRay
Replied by JackRay on topic TCP 5-axis kinematics
Me too ,

my configuration works very well now, I just have to go and machine parts.

thanks again

Please Log in or Create an account to join the conversation.

More
15 Jul 2021 16:30 #214898 by JackRay
Replied by JackRay on topic TCP 5-axis kinematics
Yes , it's possible with "HALCMD" commands .

Please Log in or Create an account to join the conversation.

More
15 Jul 2021 16:58 #214902 by JackRay
Replied by JackRay on topic TCP 5-axis kinematics
one last question, what are these two tables for in the linuxcnc xyzac-trt interface. Is there an inflance in the position of the pivot center.

or the settings of the pivot center in the .hal or .ini files are sufficient

Thank you 

Attachments:

Please Log in or Create an account to join the conversation.

More
15 Jul 2021 17:43 #214908 by Aciera
Replied by Aciera on topic TCP 5-axis kinematics
The first table is to change the helical tool paths in the example program and the other seems to be for experimenting with the rot-point But these are not necessary.
The important thing is to get the Y,Z offsets and the X Y Z values of the rotation point right.

Nice to see that you got it working too.
The following user(s) said Thank You: JackRay

Please Log in or Create an account to join the conversation.

More
22 Aug 2021 14:56 #218413 by jurod
Replied by jurod on topic TCP 5-axis kinematics
Hi, I have a problem setting up TCP kinematics.
Switching between kinematics works well   

but in reality the movement of the machine is chaotic  

Numerical coordinates indicate a slight change.
Machine is gantry Y on version LC 2.9.

in my ini :
[DISPLAY]
GEOMETRY = xyzab

[TRAJ]
COORDINATES =  XYYZBC

 [KINS]
JOINTS =  6
KINEMATICS = xyzbc-trt-kins coordinates=XYYZBC sparm=identityfirst  

In my hal:
 
# Kinematics
setp xyzbc-trt-kins.x-offset 0
setp xyzbc-trt-kins.y-offset 0
setp xyzbc-trt-kins.z-offset 0
setp xyzbc-trt-kins.x-rot-point 160
setp xyzbc-trt-kins.y-rot-point 0
setp xyzbc-trt-kins.z-rot-point 0
net tool-offset motion.tooloffset.z xyzbc-trt-kins.tool-offset

In my M128 code:
 
#!/bin/bash
halcmd setp motion.switchkins-type 1
halcmd -f <<EOF
setp ini.x.min_limit -50
setp ini.x.max_limit  4550
setp ini.y.min_limit -40
setp ini.y.max_limit  3140
setp ini.z.min_limit -740
setp ini.z.max_limit  0.1
setp ini.b.min_limit -135
setp ini.b.max_limit  315
setp ini.c.min_limit -270
setp ini.c.max_limit  270
EOF
exit 0

In my M129 code:
 
#!/bin/bash
halcmd setp motion.switchkins-type 0
halcmd -f <<EOF
setp ini.x.min_limit -50
setp ini.x.max_limit  4550
setp ini.y.min_limit -40
setp ini.y.max_limit  3140
setp ini.z.min_limit -740
setp ini.z.max_limit  0.1
setp ini.b.min_limit -135
setp ini.b.max_limit  315
setp ini.c.min_limit -270
setp ini.c.max_limit  270
EOF
exit 0


How to set parameters in HAL file correctly?
On those videos I switch the kinematics using HB04B macros and generate the movements with the mpg wheel
Please help.

 

Please Log in or Create an account to join the conversation.

More
22 Aug 2021 16:58 - 23 Aug 2021 04:35 #218418 by Aciera
Replied by Aciera on topic TCP 5-axis kinematics
Note that the xyzbc-trt-kins are for a setup with a rotary table (c axis) on top of a tilting table (b axis). You seem to be using a machine where the b and c axis is in the head and that requires a different kinematic model.

You might want to have a look at 5axiskins:

github.com/LinuxCNC/linuxcnc/blob/master...nematics/5axiskins.c

forum.linuxcnc.org/10-advanced-configura...s-kinematics-modules
Last edit: 23 Aug 2021 04:35 by Aciera. Reason: Forgot about 5axiskins

Please Log in or Create an account to join the conversation.

Time to create page: 0.190 seconds
Powered by Kunena Forum