preguntas sobre 5axis bridgemill configuración

JDS wrote:

The past couple of weeks I have been working on adding a rotating and tilting spindle to make it a 5 axis xyzbc srt bridgemill. I have the b and c attachment design almost complete and have been looking into how to control it with linuxcnc. I don't know if I have read to much(if that's even possible ) but I feel like I am more confused than when I started. My main question is can I use the vismach 5axis in the sample configs and modify it for my needs?

The Vismach setup is a simulator so only actually moves the onscreen machine model.

It is probably better to initially configure your machine as a simple XYZAB cartesian machine. Once you have that working then you would change "trivkins" in your model to be a 5 axis kinematics.

One issue: I am not sure that we currently have a 5-axis kinematics that is particularly suited to dual-motor gantry-style axes. (this isn't an issue with the Vismach model as it isn't real.

You might need a slightly modified version of one of the 5-axis TCP kins, but it should be an easy modification.

A kinematics file looks like this
github.com/LinuxCNC/linuxcnc/blob/master...ics/xyzbc-trt-kins.c

To drive a second joint for the second gantry motor you would, ideally, add a JX2 output to be identical to JX1.

But, the initial answer to your question is, yes, TCP / TRT is built-in to LinuxCNC, If you are using the development version of LinuxCNC (which makes sense with a non-trivkins machine) and if you have a two-motor gantry then you might want to look at making a special kinematics module.

JDS wrote:

Is there any documentation on modifying a kinematics module, I don't know much about these things but I can learn things fairly quickly if needed.

linuxcnc.org/docs/devel/html/motion/5-axis-kinematics.html

It might be useful to look at the old version of trivkins. That makes it very clear that there are two functions, KinematicsForward and KinematicsInverse, one maps joint positions to axes, and the other does the reverse:

github.com/LinuxCNC/linuxcnc/blob/2.6/sr...inematics/trivkins.c

With that in mind, look at the TCP 5 axis kinematics that I linked to:
github.com/LinuxCNC/linuxcnc/blob/master...ics/xyzbc-trt-kins.c

I think that all you need to do is to add a joints[JX2] to the KinematicsInverse that exactly matches the joints[JX] and choose which numerical joint number that will be. The mapping between axes and joints is set in the #define statements near the top of the file.

There is an xyzac kins
github.com/LinuxCNC/linuxcnc/blob/master...ics/xyzac-trt-kins.c

Make it JY2.