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.

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?

 

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

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" ?

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

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