TCP 5-axis kinematics

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07 Apr 2022 21:23 #239590 by andypugh
Replied by andypugh 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?

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

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23 Apr 2022 08:37 #240978 by jurod
Replied by jurod on topic TCP 5-axis 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.
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23 Apr 2022 19:46 - 23 Apr 2022 19:47 #241014 by dgarrett
Replied by dgarrett on topic TCP 5-axis kinematics
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
 
Last edit: 23 Apr 2022 19:47 by dgarrett.

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24 Apr 2022 17:11 #241083 by jurod
Replied by jurod on topic TCP 5-axis kinematics
Thank you, he's working right now

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28 May 2022 16:18 - 28 May 2022 16:19 #244061 by mittim
Replied by mittim on topic TCP 5-axis kinematics
I referenced xyzac-trt-kins in my .INI-file. I have an XYYZAC setup.
After starting LinuxCNC it shows 6 axis as joints. After homing, it shows x,y,z,a and c. Nothing wrong there.

My problem: my joints are not moving correctly. X moves fine, but only one of my y-axis-joints is moving. When trying to move z, it is moving y2 and so on... I guess LinuxCNC "forgets" my gantry setup in the xyzac-trt-kins setup.

Any suggestions, what´s the issue?

I should add, that I am homing on the spot manually for test purposes.
Last edit: 28 May 2022 16:19 by mittim.

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30 May 2022 00:15 #244162 by andypugh
Replied by andypugh on topic TCP 5-axis kinematics
Are you passing the coordinate list to xyzac-trt-kins that matches your joint allocations?

Also, which version of LinuxCNC are you using? It looks like the version in 2.9 (unreleased development version) supports gantry axes, but the version in 2.8 does not.

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31 May 2022 18:02 - 31 May 2022 18:23 #244300 by mittim
Replied by mittim on topic TCP 5-axis kinematics
I am sorry, I don´t know how to pass the coordinate list to the xyzac-trt-kins. Where can I do that?
Do you mean the assignment in the INI file as: KINEMATICS = xyzac-trt-kins coordinates = xyyzac?
Is there anything else I need to assign in the HAL file?

I am using LinuxCNC 2.9
Last edit: 31 May 2022 18:23 by mittim.

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31 May 2022 18:24 #244302 by andypugh
Replied by andypugh on topic TCP 5-axis kinematics

Do you mean the assignment in the INI file as: KINEMATICS = xyzac-trt-kins coordinates = xyyzac?

That's what I meant. Is it not working? 

 

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31 May 2022 22:15 #244313 by andypugh
Replied by andypugh on topic TCP 5-axis kinematics
Try it without spaces around the = signs.

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01 Jun 2022 11:12 - 02 Jun 2022 18:16 #244363 by mittim
Replied by mittim on topic TCP 5-axis kinematics
Ist there anything I need to change in my hal file?
Getting the following error message.

Maybe hardcoding the trtfuncs.c could help? I would change the assignment of joint 3 from "JZ" to "JY2" and move any further joint according to that.
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Last edit: 02 Jun 2022 18:16 by mittim.

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