5axiskins &LinuxCnc 2.5.3

eslavko wrote:

Any help? Or the reading source code is the only way? (not a C programmer here)

Reading the coordinate to joint and joint to coordinate equations is probably the best way to see exactly what is going on, even if you are not a programmer.

eslavko wrote:

Where the pivot lenght is defined (Is it hardcoded to be 250? So I need to recompile as my pivot isn't 250. And tool lenght?

Line 114 in the code creates a HAL pin called "5axiskins.pivot-length" which you can set to suit your machine.

eslavko wrote:

github.com/araisrobo/linuxcnc/blob/maste...nematics/5axiskins.c
github.com/jepler/linuxcnc-mirror/blob/m...nematics/5axiskins.c

I think that the difference between the two is related to why it disappeared for a while.

Initially (araisrobo verson) there was a second pin for tool length.
That is not there in the current version.

I believe this is due to changes in tool length representation. The tool table was changed to allow tool length to be specified in XYABCUVW as well as Z.

If you start LinuxCNC version 2.5.3 (just released) and start via the config- picker then there is a config calles 5-axis/5axis.
This is a simulator config, with a visual representation so you can see how a real machine would work.
Start the machine in the usual way, then press the home button.
Press $ to select world mode
You will see that as you jog the rotary axes everything swings round the tool point, but there is no tool.
Edit the tool table, set the tool length of tool 1 to 100mm (this is a metric config).
M6 T1 G43 and you will see a tool appear. And the W position will be -100.
In the MDI tab you can type G0 W0 and you will see that all the axes move along a line defined by the too direction (pretty cool to watch).
G1 W -100 F300 will now drill a hole "through" the controlled point.

It all works rather nicely, but I suggest spending some time with the simulator to see if this version of "5 axis" motion is what you want.

In this simultation the 5axisgui component is in the HAL logical structure pretty much where your hardware drivers would go in a real system.
I don't know what the velocity calculation components are for in that HAL file, they do not appear to go anywhere.

eslavko wrote:

Sems that this is just right thing. Just stumble where tool length is in tool table?

There is just
Tool
Pocket
XYZ
ABC
UVW
Diameter
front,back, orient
and comment

XYZABCUVW are the tool lengths (to allow for all sorts of different tools, for example lathe tools have length in X and Z.)

In the case of the 5-axis demo I _think_ that tool length goes in the W column.