5axiskins tool offset

More
04 May 2020 23:10 #166689 by AndrewL
How do you apply a tool offset to the 5axiskins so that the machine will rotate around the tool tip?

So far, this is what I'm trying on a mostly stock "Sim-5Axis Bridge Mill (xyzbc)" config.:
[HAL]
HALCMD = net :tool-len motion.tooloffset.w 5axisgui.tool_length
# HALCMD = net pivot-len motion.tooloffset.w 5axiskins.pivot-length (this will not work)
HALCMD = setp 5axiskins.pivot-length 200 (This alters the right parameter but will not adapt to a tool change)

Then G Code:
M6 T1 G43 (With some W offset in the tool table)
Attachments:

Please Log in or Create an account to join the conversation.

More
05 May 2020 06:49 #166741 by bbsr_5a
Replied by bbsr_5a on topic 5axiskins tool offset
the Standard tooltable ofsets shoudt work no need to apply offsets by W axis
what kinetics are you using the 2.8 master got a new kinetics file for the 5axis standard AC BC

Please Log in or Create an account to join the conversation.

More
05 May 2020 13:02 #166769 by AndrewL
Replied by AndrewL on topic 5axiskins tool offset
linucnc-uspace-dev 1:2.8.0~pre1.5843
KINEMATICS = 5axiskins
Attachments:

Please Log in or Create an account to join the conversation.

More
14 May 2020 17:22 #167765 by AndrewL
Replied by AndrewL on topic 5axiskins tool offset
Switching kinematics between 5axiskins and trivkins may be a solution. I wanted to begin by using the halcompile to load some kinematics from:
github.com/LinuxCNC/linuxcnc/tree/master/src/emc/kinematics

However, when I try this in the terminal, I get errors. What is wrong?
sudo halcompile --install switchkins.c

Compiling realtime switchkins.c
In file included from switchkins.c:17:0:
/home/engineering/Desktop/CMS_programming_Components/halcompile_files/switchkins.h:27:19: error: unknown type name ‘kparms’
/home/engineering/Desktop/CMS_programming_Components/halcompile_files/switchkins.h:31:28: error: unknown type name ‘kparms’
/home/engineering/Desktop/CMS_programming_Components/halcompile_files/switchkins.h:32:28: error: unknown type name ‘KS’
/home/engineering/Desktop/CMS_programming_Components/halcompile_files/switchkins.h:32:39: error: unknown type name ‘KS’
/home/engineering/Desktop/CMS_programming_Components/halcompile_files/switchkins.h:32:50: error: unknown type name ‘KS’
switchkins.c:21:1: error: unknown type name ‘kparms’
switchkins.c: In function ‘gui_forward_kins’:
switchkins.c:89:15: error: request for member ‘gui_kinstype’ in something not a structure or union
switchkins.c:95:21: error: request for member ‘gui_kinstype’ in something not a structure or union
switchkins.c:98:33: error: request for member ‘gui_kinstype’ in something not a structure or union
switchkins.c:99:33: error: request for member ‘gui_kinstype’ in something not a structure or union
switchkins.c:100:33: error: request for member ‘gui_kinstype’ in something not a structure or union
switchkins.c:101:33: error: request for member ‘gui_kinstype’ in something not a structure or union
switchkins.c:102:33: error: request for member ‘gui_kinstype’ in something not a structure or union
switchkins.c:103:33: error: request for member ‘gui_kinstype’ in something not a structure or union
switchkins.c: In function ‘kinematicsForward’:
switchkins.c:177:11: error: request for member ‘gui_kinstype’ in something not a structure or union
switchkins.c: In function ‘rtapi_app_main’:
switchkins.c:235:7: error: request for member ‘kinsname’ in something not a structure or union
switchkins.c:236:7: error: request for member ‘halprefix’ in something not a structure or union
switchkins.c:237:7: error: request for member ‘max_joints’ in something not a structure or union
switchkins.c:238:7: error: request for member ‘required_coordinates’ in something not a structure or union
switchkins.c:239:7: error: request for member ‘fwd_iterates_mask’ in something not a structure or union
switchkins.c:240:7: error: request for member ‘gui_kinstype’ in something not a structure or union
switchkins.c:242:7: error: request for member ‘sparm’ in something not a structure or union
switchkins.c:244:5: error: unknown type name ‘KS’
switchkins.c:245:5: error: unknown type name ‘KS’
switchkins.c:246:5: error: unknown type name ‘KS’
switchkins.c:255:14: error: request for member ‘fwd_iterates_mask’ in something not a structure or union
switchkins.c:261:12: error: request for member ‘kinsname’ in something not a structure or union
switchkins.c:263:12: error: request for member ‘halprefix’ in something not a structure or union
switchkins.c:264:11: error: request for member ‘halprefix’ in something not a structure or union
switchkins.c:264:27: error: request for member ‘kinsname’ in something not a structure or union
switchkins.c:265:59: error: request for member ‘halprefix’ in something not a structure or union
switchkins.c:268:11: error: request for member ‘max_joints’ in something not a structure or union
switchkins.c:268:32: error: request for member ‘max_joints’ in something not a structure or union
switchkins.c:271:11: error: request for member ‘gui_kinstype’ in something not a structure or union
switchkins.c:285:26: error: request for member ‘kinsname’ in something not a structure or union
switchkins.c:295:11: error: request for member ‘gui_kinstype’ in something not a structure or union
switchkins.c:308:40: error: request for member ‘required_coordinates’ in something not a structure or union
switchkins.c:310:12: error: called object ‘ksetup0’ is not a function
switchkins.c:311:12: error: called object ‘ksetup1’ is not a function
switchkins.c:312:12: error: called object ‘ksetup2’ is not a function
switchkins.c:319:41: error: request for member ‘kinsname’ in something not a structure or union
make: *** [switchkins.o] Error 1

Please Log in or Create an account to join the conversation.

More
15 May 2020 04:02 #167807 by Aciera
Replied by Aciera on topic 5axiskins tool offset
I found that halcompile does not handle kinematics files well. You might want to try the proper build process.
linuxcnc.org/docs/2.8/html/code/building-linuxcnc.html

Please Log in or Create an account to join the conversation.

More
15 May 2020 08:39 #167821 by bbsr_5a
Replied by bbsr_5a on topic 5axiskins tool offset
the switchkins shoudt be part of the new 2.9 as so many of the 5Axis mashine users like to use it

Please Log in or Create an account to join the conversation.

More
18 May 2020 19:39 #168182 by AndrewL
Replied by AndrewL on topic 5axiskins tool offset
At some point, I don't know when, my 5axiskins stopped working properly. If I create a generic vismach 5axis bridge mill configuration the vismach simulation moves as you would expect but x (joint 0) and y (joint 1) are no longer are coordinated with C in 'AXIS'. Any suggestions as to where to find what went wrong?

At this time, I'm running linuxcnc-uspace-dev 1:2.8.0~pre1.5880.gef6ad1a on Debian Wheezy
Attachments:

Please Log in or Create an account to join the conversation.

More
25 Nov 2023 17:31 #286481 by choqui2010
Replied by choqui2010 on topic 5axiskins tool offset
Hello, were you able to solve the tool compensation issue in 5axiskins? I also find myself stuck there

Please Log in or Create an account to join the conversation.

More
25 Nov 2023 17:44 #286482 by Aciera
Replied by Aciera on topic 5axiskins tool offset
Have you setup your hal to add the tool_offset to the pivot length?

See '/axis/vismach/5axis/bridgemill/5axisgui.hal':

loadusr -W 5axisgui
# to set different pivot_len, use:
#   'loadusr -W 5axisgui pivot_len=value'

net :jx  joint.0.pos-fb 5axisgui.jx
net :jy  joint.1.pos-fb 5axisgui.jy
net :jz  joint.2.pos-fb 5axisgui.jz
net :jb  joint.3.pos-fb 5axisgui.jb
net :jc  joint.4.pos-fb 5axisgui.jc
net :jw  joint.5.pos-fb
net :jy2 joint.6.pos-fb

# Note: no joint or motor connections are used
# for the w coordinate

# compute pivot-length needed for 5axiskins
# according to gui pivot_len and tool z offset
loadrt sum2 names=pivotsum
addf pivotsum servo-thread

net :gui-pivot-len <= 5axisgui.pivot_len
net :gui-pivot-len => pivotsum.in0

net :tool-len <= motion.tooloffset.z
net :tool-len => pivotsum.in1
net :tool-len => 5axisgui.tool_length

net :pivot-len <= pivotsum.out
net :pivot-len => 5axiskins.pivot-length

net :tool-diam <= halui.tool.diameter
net :tool-diam => 5axisgui.tool_diam

Please Log in or Create an account to join the conversation.

More
25 Nov 2023 18:43 #286484 by choqui2010
Replied by choqui2010 on topic 5axiskins tool offset
Thank you very much for answering, Here is what I don't understand, in my model I don't get those configurations. In the configuration that you sent me, I understand that it is from a vismach and if I put it as it is in my hal file, it will not work, so what letters or parameters should I modify? (Please help, I am very new and forgive my English, I use Google Translate)

Please Log in or Create an account to join the conversation.

Time to create page: 0.095 seconds
Powered by Kunena Forum