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

The current version of linuxcnc is 2.8.0.
Are you saying I need to upgrade to 2.9.0?

daidai wrote:

The current version of linuxcnc is 2.8.0.
Are you saying I need to upgrade to 2.9.0?

If you want switchable kinematics, yes. Not if you just want conventional XYZAC-TRT kinematics. 
 

Hi
Only now have I done the correct kinematics for the MAKA machine.


But I have a problem with the W axis. He will make a mistake after one millimeter. It doesn't matter what the speed is. (parameter F)
The movement of the W axis is also 1 mm


Kinematics: 5axiskins
LC: master 2.9.0.
I can't find an error in my configuration. Please help.

Another question: How do I set the Pivot-length parameter to fixed? The default is set to 250mm.

for w joint 5:
net j5loop <= joint.5.motor-pos-cmd
net j5loop => joint.5.motor-pos-fb


For pivot-length use:
5axiskins.pivot-length

the sim config shows example computing pivot-length

github.com/LinuxCNC/linuxcnc/tree/master...ach/5axis/bridgemill
github.com/LinuxCNC/linuxcnc/blob/master...dgemill/5axisgui.hal
 

Thank you, he's working right now