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?
 

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.

> any idea how to correct this?

No -- you did not supply information about your makefile
or what you did.


However, as noted:
forum.linuxcnc.org/10-advanced-configura...ics?start=400#232231

It is recommended to use halcompile to make a custom
switchable kinematics module since:
1) in manhy cases, no additions or modifications
are required to the source tree
2) modules can be built using a deb install.
(The halcompile utility is provided in the
package linuxcnc-dev).

Attached is a minimal sim config including a comp file
(xyz_a_bc_trt_kins.comp) that uses the functions from your file:
forum.linuxcnc.org/media/kunena/attachme.../xyz_a_bc_trt_kins.c

To use:
$ tar xf example.tar
$ cd example
$ [sudo] halcompile --install xyz_a_bc_trt_kins.comp
# NOTE: sudo only need if using a deb install,
# do NOT use sudo if using RIP (run-in-place build)
$ linuxcnc example.ini

(Starts the axis gui and a halshow widget)
In axis gui:
F1 # Estop off
F2 # Machine on
Ctrl-Home # Home All
F5 # MDI tab
M429 # select kinstype=1 (halshow verifies)
M430 # select kinstype=2 (halshow verifies)
M428 # select kinstype=0 (halshow verifies)

Hello

Thanks for clearing out.
I got it installed this way.

Some problems:
When you change kinematics machine makes a loud "Bang" noise.
Somehow this kinematic switching type makes sudden position change that then PID corrects.

If then press to "F3" to jog mode It makes another bang, clearly shifting to individual axis mode again as you try to move rotary axis tool does not follow.

Then back to MDI mode and when you try to set kinematic mode back It gives another loud back with a following error.

Anyone else has same type of problems?
I think this is specific problem to analog servo users.

I did not had this problem with my earlier switching kinematics, but as earlier mentioned in this thread that
it was only able to change kinematic mode when rotary axis were at 0 position.
But it did not introduce this loud bang.  

I run it on two mills with closed loop steppers and a robot with a digital servo interface without issues. I know there are other users of the feature and so far no reports have come back about following errors.
As user feedback has been so scant I cannot say whether you are actually the first to run it on analog servos or not.

[edit]
Are you sure your forward and inverse kinematic models match up properly?

Is there a working TCP kinematics module for XYZAC? Only found XYZBC from jsskangas.