XYZZBC-trt-kins module
03 Nov 2020 10:41 #188201
by Clive S
I believe that it will home with +ve numbers but won't be able to do auto squaring > With -ve sequence number it will.
Replied by Clive S on topic XYZZBC-trt-kins module
Yes, this thing with the negative number for the home sequence apparently is needed for the homing process. That is then unrelated, sorry about that.
I believe that it will home with +ve numbers but won't be able to do auto squaring > With -ve sequence number it will.
The following user(s) said Thank You: Aciera
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03 Nov 2020 13:38 #188217
by andypugh
You probably need the LinuxCNC source code (or at least the headers) to find a reference to that function.
For your own, less general, kinematics you could probably replace that function call, and others like it, with hard-coded joint to axis mapping for just your machine.
Replied by andypugh on topic XYZZBC-trt-kins module
I have desperately been trying to build a custom version of xyzbc-trt-kins with double Z. After having fought with getting a working halcompile, I ended up with an error like Undefined symbol "map_coordinates_to_jnumbers" when starting Linuxcnc..
You probably need the LinuxCNC source code (or at least the headers) to find a reference to that function.
For your own, less general, kinematics you could probably replace that function call, and others like it, with hard-coded joint to axis mapping for just your machine.
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03 Nov 2020 13:59 - 03 Nov 2020 14:02 #188220
by Aciera
Replied by Aciera on topic XYZZBC-trt-kins module
One thing I have bee told by one of the developers is that, rather than using halcompile, its sometimes better to build from source and after modifying the kinematic file to rebuild (sudo make).
see here:
forum.linuxcnc.org/10-advanced-configura...compile-setup#158208
see here:
forum.linuxcnc.org/10-advanced-configura...compile-setup#158208
Last edit: 03 Nov 2020 14:02 by Aciera.
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03 Nov 2020 14:00 #188221
by kimachren
Replied by kimachren on topic XYZZBC-trt-kins module
I tried to do it the hard way and modify the source file in Linuxcnc and recompile the whole package, but nothing appear to have changed. I did put the prefix=/usr in ./configure but I'm not sure it replaced my old installation. How to tell? Or should I uninstall the package first and then compile?
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03 Nov 2020 14:03 #188223
by Aciera
Replied by Aciera on topic XYZZBC-trt-kins module
Can you post your modified kinematics file?
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03 Nov 2020 14:06 #188224
by andypugh
Replied by andypugh on topic XYZZBC-trt-kins module
It might have ignored the prefix. Have a look to see if the kinematics module got put in linuxcnc-dev in the default run-in-place location.
(I don't know where that is without searching, so try
sudo find / -name trivkins*
And check both locations. If you do find a newer kins module you can (probably) copy it to the old location and overwrite the original.
(I don't know where that is without searching, so try
sudo find / -name trivkins*
And check both locations. If you do find a newer kins module you can (probably) copy it to the old location and overwrite the original.
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03 Nov 2020 14:18 #188225
by Aciera
Replied by Aciera on topic XYZZBC-trt-kins module
/home/user/linuxcnc-dev/src/emc/kinematics
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03 Nov 2020 14:31 #188227
by andypugh
I was meaning the object modules (trivkins.ko / trivkins.so for example)
Replied by andypugh on topic XYZZBC-trt-kins module
/home/user/linuxcnc-dev/src/emc/kinematics
I was meaning the object modules (trivkins.ko / trivkins.so for example)
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03 Nov 2020 14:51 #188230
by kimachren
Replied by kimachren on topic XYZZBC-trt-kins module
I found the newly compiled module and copied it to /usr/lib/linuxcnc.. something along with the others. This time it lauches emc correctly with
KINEMATICS = xyzbc-trt-kins coordinates=XYZZBC kinstype=BOTH
but when I jog Z, only one of the motors turn. When I try to jog B (which turned Z2 before), nothing happens. Not even the DRO changes. Seems I might have done something wrong in the source file (or it is highly likely:), I have absolutely no experience with this).
At least I think I know how to get the file I want now. I attached the ini, hal and .c file if you'd care to take a look.
Br
KINEMATICS = xyzbc-trt-kins coordinates=XYZZBC kinstype=BOTH
but when I jog Z, only one of the motors turn. When I try to jog B (which turned Z2 before), nothing happens. Not even the DRO changes. Seems I might have done something wrong in the source file (or it is highly likely:), I have absolutely no experience with this).
At least I think I know how to get the file I want now. I attached the ini, hal and .c file if you'd care to take a look.
Br
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03 Nov 2020 15:03 #188232
by andypugh
Replied by andypugh on topic XYZZBC-trt-kins module
Jogging will be different in unhomed mode and homed mode.
But you will need to make some HAL connections for joint-mode jogging.
Jogging "B" should _never_ jog Z. But jogging joint-4 is allowed to move a Z joint.
But you will need to make some HAL connections for joint-mode jogging.
Jogging "B" should _never_ jog Z. But jogging joint-4 is allowed to move a Z joint.
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