TCP 5-axis kinematics

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24 Mar 2022 20:38 #238267 by Peter_Cassar
Replied by Peter_Cassar on topic TCP 5-axis kinematics
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

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24 Mar 2022 22:37 #238290 by andypugh
Replied by andypugh on topic TCP 5-axis kinematics

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.

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24 Mar 2022 23:50 #238297 by Peter_Cassar
Replied by Peter_Cassar on topic TCP 5-axis kinematics
Yes, command line is very tedious . Surely VI in a pinch!!

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25 Mar 2022 07:57 #238311 by mydani
Replied by mydani on topic TCP 5-axis kinematics
This might be a working kinematics, or maybe not. I did not check it in LinuxCNC itself, as I can't spend more time on this currently. 
But in my solver it looks about right. I was not really smoothly integrating it in the trtfuncs.c, but it's in there for now.
Also attached a model for the corresponding machine simulation.

 

File Attachment:

File Name: trtfuncs.c
File Size:18 KB

 

File Attachment:

File Name: xyzab-trt-gui.py
File Size:6 KB


Regards,
Daniel
 
Attachments:

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26 Mar 2022 01:40 - 26 Mar 2022 01:46 #238390 by daidai
Replied by daidai on topic TCP 5-axis kinematics

This might be a working kinematics, or maybe not. I did not check it in LinuxCNC itself, as I can't spend more time on this currently. 
But in my solver it looks about right. I was not really smoothly integrating it in the trtfuncs.c, but it's in there for now.
Also attached a model for the corresponding machine simulation.

 

File Attachment:

File Name: trtfuncs.c
File Size:18 KB

 

File Attachment:

File Name: xyzab-trt-gui.py
File Size:6 KB


Regards,
Daniel


 
Thank you all for your responses.
I did some test based on your responses.
But M428,M429,M430 are not working.
I am wondering if Mr mydani's comments on this issue could solve this problem.
But due to my lack of knowledge, I do not know what to do with this useful information.
Please let me know exactly what I should do.

Actually, I have a configuration I would like to use. 

File Attachment:

File Name: xyzac-trt.ini
File Size:4 KB
 

It work, but M428,M429,M430 do not work.

I am attaching a picture to more accurately convey my problem.



 

Attachments:
Last edit: 26 Mar 2022 01:46 by daidai.

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29 Mar 2022 20:48 #238651 by andypugh
Replied by andypugh on topic TCP 5-axis kinematics
What are M428 (etc) meant to do? Those are not standard G-codes as far as I know.

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02 Apr 2022 03:50 #239046 by daidai
Replied by daidai on topic TCP 5-axis kinematics
I'm sorry. My explanation was bad.
What I want to use is switchable kinematics.
github.com/LinuxCNC/linuxcnc/commit/135b0ce52
I'm not very good at using Github and programming, so I'm not understand how I can get the latest switchable kinematics to work.
If possible, please let me know the specifics method.

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02 Apr 2022 16:58 #239084 by andypugh
Replied by andypugh on topic TCP 5-axis kinematics
Which LinuxCNC version are you using?

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02 Apr 2022 17:43 #239088 by 3D-Master
Replied by 3D-Master on topic TCP 5-axis kinematics
Hello, 

i have been away for some time. Is it now possible to have XYZAC/BC Kinematics which can be switched to full simultaneous (Tool center point control) at any angle, has the ability to tilt/swivel the rotary axes and shift the part coordinate system (in heidenhain its called Plane Spatial) as well as TCP trajectory planner and machine axis limit calculation so the axes do not slam into hardstops while machine using TCP? I mean not manual handcoding but only choosing the kinematics in the hal or ini file like Trivkins and you are good to go?

thanks

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02 Apr 2022 22:27 #239111 by daidai
Replied by daidai on topic TCP 5-axis kinematics
The current version of linuxcnc is 2.8.0.
Are you saying I need to upgrade to 2.9.0?

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