Please Help - How to Configure a 5 Axis Head-Head

My kinematic does not take a parameter 'coordinates=' and you need the hal connections for the kinematic.
Also since we are not working with the 'bridgemill' config anymore,  we need to set up the switchable kinematic feature and the remap codes to switch from one kinematic to another.

1. Replace your ini file with the modified version from the attached folder to your config:


2. Go to '~/linuxcnc/spindle-rotary_tilting/'  and copy the folder 'remap_subs'  with contents  into  the config folder of your machine.

3. Place the files 'pyvcp_postgui.hal', 'postgui_call_list.hal' and 'pyvcp_panel.xml'  from the attached folder into your machine config folder

Since there are likely going to be a bunch of bugs in all this I would recommend to start the config using the terminal (as described in a post furter up) because it sometimes provides more information.

I'm sure theres more to it then just switching the kins file name, but I am going to add a picture of the error code anyway

There sure is

The screen resolution is 1366 x 768.

Should work, try the attached sim config (no need to reinstall the kinematics). Or just replace the files 'xyzab-srt.xml' and 'xyzab-str_postgui.hal' in your existing 'spindle-rotary-tilting' sim config.

Yess I've heard of what you are talking about, there is an option for tilted workplane in most post processors.  So, it seems like this configuration that you are making right now can work purely as TCP or can work with the tilted workplane output (which I would assume TOOL is more your 3+2 kind of machining vs full 5 axis?).

Yes, TCP has been available for a while in LinuxCNC while the tool kinematic is new (at least as far as I'm aware). And yes, the tool kinematic is mostly interesting for 3+2 operations on machines with tool side rotations (ie head rotations) because on machines with work side rotation (eg table rotary tilt) tilted workplane functionality is trivial.

So in theory, this machine could work with either type of post processor.

'Tilted Work Plane' functionality is not implemented yet (ie the required set of Gcode is missing in LinuxCNC) but )the Tool kinematic is still useful for retracting a tool from a bore or even programming operations directly on the machine (ie if you can figure out the rotation angles of the head without a CAM).

I see the code.  So TCP and TOOL are using Machine code.  M428 and M430 respectively?

Yes the Switchable Kinematic feature uses Mcodes 428,429 and 430 to switch between kinematics

Nutating is where one of the axis is tilted at 45 degrees?

Yes. I gather that there are machines with different angles as well. 

Can you please compress your current machine config folder and post it here?

Do you want the vismach simulation or not?
Because if you don't then there are hal connections we need to remove otherwise there are going to be a bunch of errors about missing pins.

So, I removed the vismach simulation and fixed a bug in the ini. Please replace your current config with the one attached, give it a try and report  back.