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Need help to install 5 axis knematics

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15 Jul 2021 12:50 #214866 by REX299
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
Can you attach your hal and ini files?

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15 Jul 2021 13:29 #214870 by REX299
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
Attachments:

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15 Jul 2021 13:44 - 15 Jul 2021 14:36 #214872 by Aciera
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)
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
I'm also not quite sure this is correct either:
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
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!

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15 Jul 2021 14:38 #214878 by REX299
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

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15 Jul 2021 14:46 #214879 by Aciera

Now i have to find out where to put my machine Y Z offset value

You would put that into your hal file:
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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15 Jul 2021 14:50 - 15 Jul 2021 14:52 #214881 by Aciera

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
Thanks for very helpful info, i will check it out.

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