TCP 5-axis kinematics

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16 Jan 2022 22:16 - 17 Jan 2022 09:35 #232073 by Aciera
Replied by Aciera on topic TCP 5-axis kinematics
Yes. That makes a lot of sense.

[Edit]

But according to this would the C-axis not also be rotating the wrong way? Ie for the TCP to rotate clockwise the rotary table with the part has to rotate anti-clockwise.

I'm sorry I missed this:
"I was wrong both of those axis  B and C rotates wrong direction."

So what you are saying makes perfect sense to me. Problem now is that there seem to be a number of users out there who have made changes to their CAMs and post processors to get their hardware to work with current kinematics. So maybe we could create a new config with the revised kinematics using the userkins.comp.



 
Last edit: 17 Jan 2022 09:35 by Aciera.

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17 Jan 2022 13:49 #232119 by jsskangas
Replied by jsskangas on topic TCP 5-axis kinematics
Hello

I have already done new kinematics, If you look at start of this thread, my setup and files.

Also there is swiveling sub-program that only shifts workoffset according rotated part.

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17 Jan 2022 15:29 #232131 by Aciera
Replied by Aciera on topic TCP 5-axis kinematics
Not sure which post you are referring to exactly. If you have the kinematics for xyzbc and/or xyzac with rotary axis inverted as discussed above then please post them and I will try to put an example together using the 'userkins' template.

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17 Jan 2022 17:00 #232135 by jsskangas
Replied by jsskangas on topic TCP 5-axis kinematics
Hello

I was trying with my own kinematics but got error:
modules/motmod.so: undefined symbol: kinematicsSwitch

Is there something I need to add to my own kinematic module if I want to use it?

 
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17 Jan 2022 17:27 #232139 by dgarrett
Replied by dgarrett on topic TCP 5-axis kinematics
Kinematics modules that do not support kinematics switching use the macro "KINS_NOT_SWITCHABLE" provided by kinematics.h.

Ref code updates in master branch:
linuxcnc.org/docs/devel/html/getting-sta...c.html#_code_updates

linuxcnc.org/docs/devel/html/motion/switchkins.html

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17 Jan 2022 17:45 - 17 Jan 2022 18:03 #232141 by jsskangas
Replied by jsskangas on topic TCP 5-axis kinematics
dgarrett: If I use "KINS_NOT_SWITCHABLE" will it still be possible to update new location via M66 (sync new position to system) when I use my own switchable kinematics?

how I use this  "KINS_NOT_SWITCHABLE" ?
Last edit: 17 Jan 2022 18:03 by jsskangas.

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17 Jan 2022 18:48 - 20 Jan 2022 09:12 #232157 by jsskangas
Replied by jsskangas on topic TCP 5-axis kinematics
Got machine to start and in joint mode (not homed) all joints move and has correct feedback,
but when I try home machine joint 1 gives feedback error.
You can just but machine on again with out restarting linuxcnc and joints works perfectly.
Trying to re-home it gives same feedback error for joint 1.

It is not a real feedback error as all joints move correctly.

Any ideas why? Solved
Last edit: 20 Jan 2022 09:12 by jsskangas.

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18 Jan 2022 08:08 - 19 Jan 2022 08:49 #232231 by Aciera
Replied by Aciera on topic TCP 5-axis kinematics
Since your kinematic seems to use your own flavour of switchable kinematics (which will not be needed when using the built in switchable kinematics feature) it's not quite as simple as copy pasting it into the 'userkins.comp' template and since you are probably better versed in C then me I have made a component using the  current xyzbc-trt model, so it won't be what you want but it should give you an idea of how to adapt it to your needs.

File Attachment:

File Name: xyzbc_trt.comp
File Size:8 KB


To compile it on a RIP installation:
$ halcompile --install <your-path>/xyzbc_trt.comp

(For a deb installation you will probably need to use 'sudo' with the above.)
If you want to test this you can use the simulation config /sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt

To do so you will need to change xyzbc-trt.ini:

#KINEMATICS = xyzbc-trt-kins sparm=identityfirst
KINEMATICS = xyzbc_trt

# not currently supported by xyzbc-trt-gui:
#HALCMD = setp xyzbc-trt-kins.x-rot-point 0
#HALCMD = setp xyzbc-trt-kins.y-rot-point 0
#HALCMD = setp xyzbc-trt-kins.z-rot-point 0



[edit]

You might also want to have a look at the /sim/axis/vismach/millturn simulation config for an application of 'userkins.comp' template with switchable kinematics. 'millturn.comp' can be found at /src/hal/components
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Last edit: 19 Jan 2022 08:49 by Aciera.

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23 Jan 2022 13:19 - 23 Jan 2022 13:23 #232876 by jsskangas
Replied by jsskangas on topic TCP 5-axis kinematics
Hello

I have been trying to implement my own kinematics a switchkin way.
My machine needs to switch between 3 different kinematics, straight forward, XYZBC and XYZA.


problem is at the moment that i will get error:

ver:2: syntax error in VERSION script
collect2: error: ld returned 1 exit status

any idea how to correct this?
 
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Last edit: 23 Jan 2022 13:23 by jsskangas.

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23 Jan 2022 14:39 #232878 by Aciera
Replied by Aciera on topic TCP 5-axis kinematics

My machine needs to switch between 3 different kinematics, straight forward, XYZBC and XYZA.

Any particular reason you don't use the modified userkins.comp file I provided? Possibly all you have to do there is expand the case structure for XYZA.

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