TCP 5-axis kinematics

new files

Just to be clear, this thread is you reporting success rather than asking for help?

Hello

Sorry English is not my native language.

I would like to get help testing this latest version.

Problem is axis losing its position, most likely when changing kinematic model.

Sorry, I have been away from home.
Can you describe: What you do to cause the problem. What you expect to happen. What actually happens?

Hello Andy

First look mu kinematic file.(XYZBCsmkins.c)
There are two M128 and M129 command that switch between two different kinematic model.
Switching can be only done in B0. C0. position.
Both kinematic models works as they supposed to.


Problem is that, some how axis or joint loses it's position during sifting between these two kinematic models.
Between several shifts I managed to get 5mm error to X axis.
Problem is not mechanical or HW related.
I have been running lot higher pulse rates(servo encoder pulses) in 3+2 axis works than in 5 axis.

This has been sat in my "to answer" pile for a week, and I haven't managed to find the time to look at it in detail.

It sounds like your forward and reverse kinematics might not give _exactly_ the same result. Have you checked this?

I think it is possible to run the kins function from the command line. But I can't recall how one does that.