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:

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

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!

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

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

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 want to use xyzac-trt-kins in my XYYZAC setup but i get the following error message. Any ideas, whats´s the issue here?

 

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

 

Thank you so much. So, a simple update via the package manager should fix the issue?