XYZZBC-trt-kins module
03 Nov 2020 15:09 - 03 Nov 2020 15:19 #188233
by Aciera
Replied by Aciera on topic XYZZBC-trt-kins module
Do you get information about axis-numbering when you start the INI from the terminal?
[edit]
Maybe try to assign the axis manually:
[edit2]
Would you maybe want to change:
To:
[edit]
Maybe try to assign the axis manually:
static int JZ2 = 3;
static int JB = 4;
static int JC = 5;[edit2]
Would you maybe want to change:
#define MAX_JOINTS 5
#define REQUIRED_COORDINATES "XYZBC"To:
#define MAX_JOINTS 6
#define REQUIRED_COORDINATES "XYZZBC"
Last edit: 03 Nov 2020 15:19 by Aciera.
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03 Nov 2020 16:04 #188243
by kimachren
Replied by kimachren on topic XYZZBC-trt-kins module
Andy: I am aware of the difference between modes when jogging.
Aciera: Yeah I noticed that right after I posted the files. I will try it later
Aciera: Yeah I noticed that right after I posted the files. I will try it later
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03 Nov 2020 20:52 #188262
by kimachren
Replied by kimachren on topic XYZZBC-trt-kins module
So finally it is working! I hardcoded the joint numbers and removed all the other joint numbering stuff, recompiled whole package and copied the file.
Cheers!
Cheers!
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04 Nov 2020 06:24 - 04 Nov 2020 06:27 #188290
by Aciera
Replied by Aciera on topic XYZZBC-trt-kins module
Thanks for reporting back.
Now that this is working you might want to check out the switch-kins branch. I find it very handy to switch between trivial kinematics and TCP:
www.panix.com/~dgarrett/stuff/switchkins.html
www.panix.com/~dgarrett/stuff/s_kins_guide.txt
Now that this is working you might want to check out the switch-kins branch. I find it very handy to switch between trivial kinematics and TCP:
www.panix.com/~dgarrett/stuff/switchkins.html
www.panix.com/~dgarrett/stuff/s_kins_guide.txt
Last edit: 04 Nov 2020 06:27 by Aciera.
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04 Nov 2020 13:05 #188308
by kimachren
Replied by kimachren on topic XYZZBC-trt-kins module
I have one more question for you - how to set the rotation axes properly? I noticed in some discussion threads they mention hal pins like "xyzbc-trt-kins.x-rot-point". In the source file on which I based my kins module, there are no such hal pins, only x-, z- and tool offsets. I have tried to make the "machine zero" coincide with the rotation point (in other words - offset the home points from the switches), but that gives me some headache with soft limits.
As the kins rotate the whole "box" constructed by soft limits, one joint quickly hits a limit or, worse a switch. Or at least, that's my understanding of it
As the kins rotate the whole "box" constructed by soft limits, one joint quickly hits a limit or, worse a switch. Or at least, that's my understanding of it
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04 Nov 2020 15:28 #188317
by Aciera
Replied by Aciera on topic XYZZBC-trt-kins module
Soft limits don't really work when using non-trivial kinematics, unfortunately.
I used the switchkins-branch so my kinematics came with the rotation point input pins.
www.forum.linuxcnc.org/10-advanced-confi...s-x?start=270#160822
I used the switchkins-branch so my kinematics came with the rotation point input pins.
www.forum.linuxcnc.org/10-advanced-confi...s-x?start=270#160822
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05 Jun 2022 16:52 #244629
by mittim
Replied by mittim on topic XYZZBC-trt-kins module
I want to use xyzac-trt-kins in my XYYZAC setup but i get the following error message. Any ideas, whats´s the issue here?
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05 Jun 2022 17:24 #244630
by dgarrett
Replied by dgarrett on topic XYZZBC-trt-kins module
The posted screenshot shows:
> LINUXCNC - 2.9.0-pre0-3879-g9a26e69fe
That indicates it is at commit 9a26e69fe
which is dated May 11, 2021
Ref: github.com/LinuxCNC/linuxcnc/commit/9a26e69fe
The facility for xyzac-trt-kins to support duplicate
axis letters:
Ref: github.com/LinuxCNC/linuxcnc/blob/master...xyzac-trt-kins.c#L26
was added to the master branch at commit 135b0ce522 on Jun 19 2021
Ref: github.com/LinuxCNC/linuxcnc/commit/135b0ce522
So your version is too old -- update to current master branch
> LINUXCNC - 2.9.0-pre0-3879-g9a26e69fe
That indicates it is at commit 9a26e69fe
which is dated May 11, 2021
Ref: github.com/LinuxCNC/linuxcnc/commit/9a26e69fe
The facility for xyzac-trt-kins to support duplicate
axis letters:
Ref: github.com/LinuxCNC/linuxcnc/blob/master...xyzac-trt-kins.c#L26
was added to the master branch at commit 135b0ce522 on Jun 19 2021
Ref: github.com/LinuxCNC/linuxcnc/commit/135b0ce522
So your version is too old -- update to current master branch
The following user(s) said Thank You: mittim
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05 Jun 2022 17:29 #244631
by mittim
Replied by mittim on topic XYZZBC-trt-kins module
Thank you so much. So, a simple update via the package manager should fix the issue?
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09 Jun 2022 23:58 #244832
by andypugh
Replied by andypugh on topic XYZZBC-trt-kins module
If that is how you got LinuxCNC in the first place, yes. But it has to be 2.9, ie the development version, and that comes from the buildbot not the main repository.Thank you so much. So, a simple update via the package manager should fix the issue?
The following user(s) said Thank You: mittim
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