TCP 5-axis kinematics

Peter_Cassar wrote:

What is different in the HAL config between simple 5axis trivkins xyzab and proper xyzac-trt or xyzbc-trt kinetmatics ?

Almost nothing. The HAL file needs to load the alternative kinematics and then it will need to set several offsets and rotation centres.
I have looked, though, and I can't see a list of the parameters listed anywhere. There is a small example on the 5axis kinematics docs page:

I have 5 axis trivkins working with a  Mesa 5125+7i76 .  If I set the kinematics to xyzab-trt  I get five joints (0 to 4)  in the Axis GUI. Where to from here?

If you home the machine, then it should switch from joint mode to axis mode, and start showing XYZAC.

Does LinuxCNC assume each axis pivot is co-located , there are no translations? 

No, it gets the offsets from HAL pins.

Thanks Andy, It was as simple as that! I can confirm once the joints are homed the Axis are relabeled. The linear axis also translate when the rotary axis move. Now to find a turbine example!

Regards,
Peter.

Peter_Cassar wrote:

Now to find a turbine example!

There is one in the LinuxCNC disribution. 
Open the config picker, and open sim->axis->vismach->5-axis->table-rotating-tilting->xyzac-trt and the defulr file that the config iopens with is an impeller. You can save the file from there into your nc_files folder to run on the real machine. 
 

Hello.
Sorry for the basic question.
I just followed the instructions and was able to install Linuxcnc on my Raspberry pi4.
I would like to be able to use the latest xyzac-trt-kins after that, but I don't know how to do it.
I have tried to find out how to do this, but due to my lack of knowledge, I could not understand it.
Please tell me exactly how I can do this by typing in the command line.
 

I would suggest you first get your basic 5 axis system working with trivkins. Setup the axis as x,y,z, a and c then test these axis work then change the kinematics , usually specified in the machine .INI , where it says trivkins change this to xyzac-trt-kins then add the following lines to the machine HAL file and change the offset values to suit your 4th and 5th axis .

# set offset parameters
net :tool-offset motion.tooloffset.z xyzac-trt-kins.tool-offset
setp xyzac-trt-kins.y-offset 0
setp xyzac-trt-kins.z-offset 20

daidai wrote:

I have tried to find out how to do this, but due to my lack of knowledge, I could not understand it.
Please tell me exactly how I can do this by typing in the command line.

Edit your INI file [KINS] section to use xyzac-trt-kins rather than trivkins.

That's most of it.

Personally I would use a graphical editor, but you could do it on the command line with nano or vi if you insist.