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.



 

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.

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.



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

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.