TCP 5-axis kinematics

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05 Dec 2022 08:00 #258565 by JackRay
Replied by JackRay on topic TCP 5-axis kinematics
Hello,

indeed, I had not thought about it but I master python well enough, and it is very easy to change the A in B. Now I will see if I can't do it directly on the pos processor.

Thanks for your help ... again

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11 Dec 2022 09:56 - 11 Dec 2022 10:02 #259186 by JackRay
Replied by JackRay on topic TCP 5-axis kinematics
Hello,

I was able to change the name of my axis from A  to B, quite easily in my post processor . Now everything works correctly.

Thanks again for your help.
Last edit: 11 Dec 2022 10:02 by JackRay.
The following user(s) said Thank You: Aciera

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07 Jan 2023 10:34 #261156 by akg1904
Replied by akg1904 on topic TCP 5-axis kinematics
Hi,

I got my 5-axis up and running but when I run a 5-axis demo the simulator shows some bizarre figure which does not match our demo figure at all.
Now i don't know what might have gone wrong

Does anyone have any idea why it is showing like this?

Attachments:

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07 Jan 2023 16:51 - 07 Jan 2023 17:04 #261180 by Aciera
Replied by Aciera on topic TCP 5-axis kinematics
I'm not quite clear what you have there, it doesn't look like the regular simulation config that comes with the installation. So what did you change? the kinematics, the vismach model of the machine, the gcode?

[edit]
Just a stab in the dark, but for the simulation to work you must not change these values in the ini file:
# not currently supported by xyzac-trt-gui:
HALCMD = setp xyzac-trt-kins.x-rot-point 0
HALCMD = setp xyzac-trt-kins.y-rot-point 0
HALCMD = setp xyzac-trt-kins.z-rot-point 0
 
Last edit: 07 Jan 2023 17:04 by Aciera.

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09 Jan 2023 05:02 #261330 by akg1904
Replied by akg1904 on topic TCP 5-axis kinematics
Hi,
Thank you for quick reply.
I haven't change anything apart from velocity and acceleration.
I don't think it should have any impact on the shape of the simulation

File Attachment:

File Name: xyzac-trt.ini
File Size:5 KB


Regards
Abhishek
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09 Jan 2023 07:40 #261336 by Aciera
Replied by Aciera on topic TCP 5-axis kinematics
I just tried your ini on my 2.9.0 and it works fine for me. However the colors on your vismach model are different that makes me think that it may have been modified. I'm not positive but i think the offsets do not correspond to what you have in your ini. Just compare with this using your ini file:

 
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09 Jan 2023 09:00 #261340 by akg1904
Replied by akg1904 on topic TCP 5-axis kinematics
Hi,
So, the "INI" file is perfectly fine, I went through some causes of error and i think it might be related to one of the two things I mentioned below:
  • There might be some error in "xyzac-trt-gui.py" for "tk" which is accountable for simulation working.
  • Or it might be that there is some mapping problem in kinematics.

If you have any other places where the simulation could break please share with me.
If possible can you share the link of the branch from where you got your linuxCNC.
 

File Attachment:

File Name: xyzac-trt-gui.py
File Size:6 KB
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09 Jan 2023 12:35 - 09 Jan 2023 12:37 #261347 by Aciera
Replied by Aciera on topic TCP 5-axis kinematics
I built my 2.9.0 directly from the git repository but I don't think it matters really where you get it from.

One way to troubleshoot is to start the HAL configuration tool in the linuxcnc menu and check the pin values for "table-x" and "saddle-y" for the gui and the kins modules.
I just checked the vismach model code you posted and it's identical to the one in my installation.
If that is the actual file you are using I have no explanation for what you are seeing. It's rather unlikely to be due to some tkinter error as I would expect that in that case the config would not run at all.
I'll attach the compessed sim folder here so you can unzip and drop that into your installation tree. Note that the vismach model and the kinematics are not included but I doubt that those are the root of the problem if you haven't change them.
 

File Attachment:

File Name: table-rota...g.tar.gz
File Size:137 KB


[edit]
Have you tried any of the other vismach sim configs?
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Last edit: 09 Jan 2023 12:37 by Aciera.
The following user(s) said Thank You: akg1904

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02 Feb 2023 13:37 #263520 by akg1904
Replied by akg1904 on topic TCP 5-axis kinematics
Hi everyone,

I am trying to get xyzac working in my machine and for the most part everything seems fine.
When I try to align the z axis with a point (10 cm ~ the same distance as when a fixture is fit on the bed) above my bed and then switch over to xyzac kinematics and jog only the a axis I notice that z and a are not following each other.

How do I begin to calibrate the axis for xyzac mode?

Thanks in advance,
Abhishek

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04 Feb 2023 11:03 #263657 by andypugh
Replied by andypugh on topic TCP 5-axis kinematics
There are HAL pins that need to be set with the correct offsets, mentioned in the docs:

linuxcnc.org/docs/html/motion/5-axis-kin...inematics_components

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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