Having joint following error on 5axiskins

Hello to all,

I'm very new to 5 axis kinematics and trying to using 5axiskins in my machine.

I have a machine like XYZBC 5 axis bridge mill.

I'm attaching my ini and hal files.

I construct my emc2 with trivkins and adjust all parameters for machine which works succesfully.

But when I switched to 5axiskins I have joint following errors.

Can any body help me?

Note: In the configuration files I'm using 6 axis for simulation with the 5axisgui

Hm, looks like you are missing the [KINS] section in the INI. From the sim/axis/vismac/5axis/bridgemill/5axis.ini:

[KINS]
KINEMATICS = 5axiskins
JOINTS = 6

Note that 5axiskins does not handle an A axis.

You might want to update to Version 2.8 or even the switchkins-branch to be able to switch from tivialkinematics to 5axis-TCP.
www.panix.com/~dgarrett/stuff/switchkins.html
www.panix.com/~dgarrett/stuff/s_kins_guide.txt

Also regarding bridgemill:
forum.linuxcnc.org/10-advanced-configura...is-kinematics#186285

Sorry for my late reply. I was trying to solve myself to learn much more but I'm unsuccesful.

I'm using emc 2.7.14.

Do I have to update my version ?

By the way, I only need X,Y,Z,B and C axes. My machine is very similar to vismach 5 axis bridgemill

If you are setting up the machine from scratch then I would certainly advise to update your version. I you had the machine running on 2.7 then updating to 2.8 will require some adjustments in the config.

I have installed the debian 10 with emc 2.8 from iso image.

And I have create a new configuration with StepConf Wizard.

But I'm still getting a joint following error.

Here I attached the ini and hal files....

You don't have any settings for the step generator in your INI. You must have missed something in the pncconf. here is what my ini section for a joint looks like:

Excuse me but, I have a little bit confused... You wrote pncconf but I'm using StepConf for parallel port , step-dir controller...

If I'm not wrong pncconf is for mesa boards...

my apologies. I'm so used to the mesa boards I totally got on the wrong track. For StepConf that is of course the output you would get.

So none of the motors work? You get a "following error" as soon as you try to jog an axis?

Maybe try to reduce the acceleration and velocity:

[JOINT_0]
TYPE = LINEAR
MAX_VELOCITY = 50
MAX_ACCELERATION = 200
MIN_LIMIT = -500
MAX_LIMIT = 500
HOME_SEARCH_VEL = 0
HOME_SEQUENCE = 0
SCALE = 59.59183673469
STEPGEN_MAXACCEL = 250


[edit]
MAX_VELOCITY is in mm per second so 500 maybe a bit excessive.

I can jog all 5 motors without any problem...
I can run a ngc file with %10 rapid override...

If I decrease the max_velocity to 50, the machine moves very slow....

But on the other hand, If I changed the kinematics from 5axiskins to trivkins with the same configuration, I got no joint following error...

Ok, I think I'm don't understand your problem correctly:
You can jog alll axis and run gcode with 10% feed override, no problem.

So are you getting the following errors when you jog axis with 5axiskins or run a gcode file in 5axis kins ?

Note that for 5axis simultaneous movements you will have to reduce your acceleration considerably (compared to trivial kinematics).