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Need help to install 5 axis knematics
15 Jul 2021 12:50 #214866
by REX299
Replied by REX299 on topic Need help to install 5 axis knematics
Yeah it work! That my fault, and new problem is coordinate number show it runing but virtual tool on screen not move when I do jogging axis.
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15 Jul 2021 13:04 #214867
by Aciera
Replied by Aciera on topic Need help to install 5 axis knematics
Can you attach your hal and ini files?
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15 Jul 2021 13:29 #214870
by REX299
Replied by REX299 on topic Need help to install 5 axis knematics
0k I solve problem by put "HOME_SEQUENCE" into .ini file. Can you guide me what file do i need to put axis offset value for run TCP correctly ?
I check out the ini file in sim/vismach and found these code:
# net for control of motion.switchkins-type
HALCMD = net :kinstype-select <= motion.analog-out-03 => motion.switchkins-type
# vismach xyzac-trt-gui items
HALCMD = loadusr -W xyzac-trt-gui
HALCMD = net :table-x joint.0.pos-fb xyzac-trt-gui.table-x
HALCMD = net :saddle-y joint.1.pos-fb xyzac-trt-gui.saddle-y
HALCMD = net :spindle-z joint.2.pos-fb xyzac-trt-gui.spindle-z
HALCMD = net :tilt-a joint.3.pos-fb xyzac-trt-gui.tilt-a
HALCMD = net :rotate-c joint.4.pos-fb xyzac-trt-gui.rotate-c
HALCMD = net :tool-offset motion.tooloffset.z
HALCMD = net :tool-offset xyzac-trt-kins.tool-offset xyzac-trt-gui.tool-offset
HALCMD = net :y-offset xyzac-trt-kins.y-offset xyzac-trt-gui.y-offset
HALCMD = net :z-offset xyzac-trt-kins.z-offset xyzac-trt-gui.z-offset
HALCMD = sets :y-offset 20
HALCMD = sets :z-offset 10
So I need to copy these code to my config machine and edit the value in this code?
HALCMD = sets :y-offset 20
HALCMD = sets :z-offset 10
Here is my hal and ini file
I check out the ini file in sim/vismach and found these code:
# net for control of motion.switchkins-type
HALCMD = net :kinstype-select <= motion.analog-out-03 => motion.switchkins-type
# vismach xyzac-trt-gui items
HALCMD = loadusr -W xyzac-trt-gui
HALCMD = net :table-x joint.0.pos-fb xyzac-trt-gui.table-x
HALCMD = net :saddle-y joint.1.pos-fb xyzac-trt-gui.saddle-y
HALCMD = net :spindle-z joint.2.pos-fb xyzac-trt-gui.spindle-z
HALCMD = net :tilt-a joint.3.pos-fb xyzac-trt-gui.tilt-a
HALCMD = net :rotate-c joint.4.pos-fb xyzac-trt-gui.rotate-c
HALCMD = net :tool-offset motion.tooloffset.z
HALCMD = net :tool-offset xyzac-trt-kins.tool-offset xyzac-trt-gui.tool-offset
HALCMD = net :y-offset xyzac-trt-kins.y-offset xyzac-trt-gui.y-offset
HALCMD = net :z-offset xyzac-trt-kins.z-offset xyzac-trt-gui.z-offset
HALCMD = sets :y-offset 20
HALCMD = sets :z-offset 10
So I need to copy these code to my config machine and edit the value in this code?
HALCMD = sets :y-offset 20
HALCMD = sets :z-offset 10
Here is my hal and ini file
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15 Jul 2021 13:44 - 15 Jul 2021 14:36 #214872
by Aciera
Replied by Aciera on topic Need help to install 5 axis knematics
Note that I have little experience with the 5axis TCP functionality, so I might not be the right person to answer this.
I would think that from that list the relevant pins for your hal would be :
xyzac-trt-kins.y-offset
xyzac-trt-kins.z-offset
xyzac-trt-kins.tool-offset (which you would probably want to connect to motion.tooloffset.z)
This might give you more information: (from xyzac-trt.txt)
[edit]
I think in the text above it should probably say:
xyzac-trt-kins.y-offset
xyzac-trt-kins.z-offset
Y and Z offsets are the offsets from the center
of rotation of the A axis relative to the center
of rotation of the C axis.
As is doesn't seem to make much sense to have an x-offset when using an AC rotary setup.
see also section 5.2 here: linuxcnc.org/docs/2.8/html/motion/5-axis-kinematics.html
I would think that from that list the relevant pins for your hal would be :
xyzac-trt-kins.y-offset
xyzac-trt-kins.z-offset
xyzac-trt-kins.tool-offset (which you would probably want to connect to motion.tooloffset.z)
This might give you more information: (from xyzac-trt.txt)
xyzac-trt-kins (switchkins)
.
.
.
Hal Input pins:
xyzac-trt-kins.x-offset
xyzac-trt-kins.z-offset
X and Z offsets are the offsets from the center
of rotation of the C axis relative to the center
of rotation of the A axis.
Hal Input pins:
xyzac-trt-kins.x-rot-point
xyzac-trt-kins.y-rot-point
xyzac-trt-kins.z-rot-point
X, Y and Z rot-point pins represent are the
offsets of the center of rotation of the A axis
relative to the machine absolute zero
coordinates.[edit]
I think in the text above it should probably say:
xyzac-trt-kins.y-offset
xyzac-trt-kins.z-offset
Y and Z offsets are the offsets from the center
of rotation of the A axis relative to the center
of rotation of the C axis.
As is doesn't seem to make much sense to have an x-offset when using an AC rotary setup.
see also section 5.2 here: linuxcnc.org/docs/2.8/html/motion/5-axis-kinematics.html
Last edit: 15 Jul 2021 14:36 by Aciera. Reason: I think it should be A axis relative to C axis and not the other way around
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15 Jul 2021 14:12 - 15 Jul 2021 14:14 #214873
by Aciera
Replied by Aciera on topic Need help to install 5 axis knematics
I'm also not quite sure this is correct either:
It looks to me more like the center point of the C axis:
X, Y and Z rot-point pins represent are the
offsets of the center of rotation of the C axis
relative to the machine absolute zero
coordinates.
X, Y and Z rot-point pins represent are the
offsets of the center of rotation of the A axis
relative to the machine absolute zero
coordinates.It looks to me more like the center point of the C axis:
X, Y and Z rot-point pins represent are the
offsets of the center of rotation of the C axis
relative to the machine absolute zero
coordinates.
Last edit: 15 Jul 2021 14:14 by Aciera.
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15 Jul 2021 14:16 #214874
by REX299
Replied by REX299 on topic Need help to install 5 axis knematics
Yeh X offset only make sense with xyzbc machine type, for xyzac Y and Z -offset is important. Now i have to find out where to put my machine Y Z offset value 
Thank you so much Aciera!
Thank you so much Aciera!
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15 Jul 2021 14:38 #214878
by REX299
Replied by REX299 on topic Need help to install 5 axis knematics
there are two type of offset you have to handle
1: is the offset between rotation axis depend to machine type, for xyzac machine X and Z offsets are the offsets from the center of rotation of the C axis relative to the center of rotation of the A axis.
2. is the offset X, Y and Z rot-point pins represent are the offsets of the center of rotation of the A axis (pivot point mean intersect point of rotation axis A&C ) relative to the machine absolute zero coordinates
1: is the offset between rotation axis depend to machine type, for xyzac machine X and Z offsets are the offsets from the center of rotation of the C axis relative to the center of rotation of the A axis.
2. is the offset X, Y and Z rot-point pins represent are the offsets of the center of rotation of the A axis (pivot point mean intersect point of rotation axis A&C ) relative to the machine absolute zero coordinates
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15 Jul 2021 14:46 #214879
by Aciera
Of course you would replace 20 and 10 with your numbers.
then you follow the same pattern for the .x-, .y-, ..z-rot-point values
and again replace the values according to where your C- axis rotation-point is in relation to your home position
Replied by Aciera on topic Need help to install 5 axis knematics
You would put that into your hal file:Now i have to find out where to put my machine Y Z offset value
setp xyzac-trt-kins.y-offset 20
setp xyzac-trt-kins.z-offset 10Of course you would replace 20 and 10 with your numbers.
then you follow the same pattern for the .x-, .y-, ..z-rot-point values
setp xyzac-trt-kins.x-rot-point 0
setp xyzac-trt-kins.y-rot-point 0
setp xyzac-trt-kins.z-rot-point 0and again replace the values according to where your C- axis rotation-point is in relation to your home position
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15 Jul 2021 14:50 - 15 Jul 2021 14:52 #214881
by Aciera
If you look at the document I linked above and also if you study the simulation config the rotation point is the center point on the surface of the C-axis. Not the intersection of the A and the C axis. At least that is how I read it.
linuxcnc.org/docs/2.8/html/motion/5-axis-figures/Figure-6.png
Replied by Aciera on topic Need help to install 5 axis knematics
2. is the offset X, Y and Z rot-point pins represent are the offsets of the center of rotation of the A axis (pivot point mean intersect point of rotation axis A&C ) relative to the machine absolute zero coordinates
If you look at the document I linked above and also if you study the simulation config the rotation point is the center point on the surface of the C-axis. Not the intersection of the A and the C axis. At least that is how I read it.
linuxcnc.org/docs/2.8/html/motion/5-axis-figures/Figure-6.png
Last edit: 15 Jul 2021 14:52 by Aciera.
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15 Jul 2021 14:54 #214882
by REX299
Replied by REX299 on topic Need help to install 5 axis knematics
Thanks for very helpful info, i will check it out.
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