Need help to install 5 axis knematics
- REX299
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- Aciera
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- REX299
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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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- Aciera
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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
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- Aciera
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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.
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- REX299
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Thank you so much Aciera!
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- REX299
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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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- Aciera
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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 10
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
setp xyzac-trt-kins.x-rot-point 0
setp xyzac-trt-kins.y-rot-point 0
setp xyzac-trt-kins.z-rot-point 0
and again replace the values according to where your C- axis rotation-point is in relation to your home position
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- Aciera
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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
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- REX299
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