TCP - Tool Center Point
- Duatepe
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08 Jan 2024 04:56 #290178
by Duatepe
TCP - Tool Center Point was created by Duatepe
Hi everyone, I am new in LinuxCNC. We making a CNC machine and my boss want me to enable TCP mode with that, so as you see I dont have any information about that, I have read linuxcnc doc as much as I can to understand cnc basics and linuxCNC and now I think I reached the point to ask this question and understand the answers. I have to commision this feature as much as possible. I will be very happy with your helps. Thanks in advance.
Now My first question -> does the any variable exist to enable the TCB mode or should I make some math for that.
2) if I have to write some equations how will perform it how can I get this equations.
Now My first question -> does the any variable exist to enable the TCB mode or should I make some math for that.
2) if I have to write some equations how will perform it how can I get this equations.
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- Aciera
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08 Jan 2024 10:39 #290198
by Aciera
Replied by Aciera on topic TCP - Tool Center Point
TCP kinematics have been done for a number of machine setups in linuxcnc.
Have a look at the simulation configurations in the 'sim/axis/vismach/5axis' section.
I have also recently presented two configs for rotating-nutating spindles that include TCP kinematics:
forum.linuxcnc.org/show-your-stuff/49103...versal-nutating-head
Have a look at the simulation configurations in the 'sim/axis/vismach/5axis' section.
I have also recently presented two configs for rotating-nutating spindles that include TCP kinematics:
forum.linuxcnc.org/show-your-stuff/49103...versal-nutating-head
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08 Jan 2024 10:47 #290200
by Duatepe
Replied by Duatepe on topic TCP - Tool Center Point
Thank you for response,yes I checked it out and I want to find the kinematic equations about that, where is the file location.
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08 Jan 2024 10:58 #290201
by Aciera
Replied by Aciera on topic TCP - Tool Center Point
For the sim configs:
Have a look in the config folder and open the .ini file then look for 'KINEMATICS' entry in the '[KINS]' section.
Example from the 'table-dual-rotary' config:
KINEMATICS = xyzab_tdr_kins
The kinematic file used in this config is called 'xyzab_tdr_kins' (extension will be either '.c' or '.comp' and the location is either 'src/emc/kinematics' or 'src/hal/components/')
For ' xyzab_tdr_kins.comp' look in 'src/hal/components/'
There is a thread with complete documentation on how to derive the kinematic model used for this particular configuration.
Have a look in the config folder and open the .ini file then look for 'KINEMATICS' entry in the '[KINS]' section.
Example from the 'table-dual-rotary' config:
KINEMATICS = xyzab_tdr_kins
The kinematic file used in this config is called 'xyzab_tdr_kins' (extension will be either '.c' or '.comp' and the location is either 'src/emc/kinematics' or 'src/hal/components/')
For ' xyzab_tdr_kins.comp' look in 'src/hal/components/'
There is a thread with complete documentation on how to derive the kinematic model used for this particular configuration.
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08 Jan 2024 11:09 #290203
by Duatepe
Replied by Duatepe on topic TCP - Tool Center Point
I see no any equation in "xyzac-trt-kins.c" in "github.com/LinuxCNC/linuxcnc/blob/master...ics/xyzac-trt-kins.c"
but in .comp I can see some equations in
"github.com/LinuxCNC/linuxcnc/blob/master.../xyzab_tdr_kins.comp"
But this is "xyzab_tdr_kins" which simulation doesnt use that. It uses "xyzac-trt-kins" .
but in .comp I can see some equations in
"github.com/LinuxCNC/linuxcnc/blob/master.../xyzab_tdr_kins.comp"
But this is "xyzab_tdr_kins" which simulation doesnt use that. It uses "xyzac-trt-kins" .
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08 Jan 2024 11:16 #290204
by Duatepe
Replied by Duatepe on topic TCP - Tool Center Point
Okay I found it. Thank you for reply. I will continue to read the doc
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08 Jan 2024 12:06 #290207
by Aciera
Replied by Aciera on topic TCP - Tool Center Point
There is also documentation for the 'xyzac-trt-kins' kinematic model:
linuxcnc.org/docs/html/motion/5-axis-kinematics.html
linuxcnc.org/docs/html/motion/5-axis-kinematics.html
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09 Jan 2024 14:07 #290273
by tommylight
Replied by tommylight on topic TCP - Tool Center Point
Spammer booted.
Thank you.
Thank you.
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10 Jan 2024 07:45 - 10 Jan 2024 08:06 #290332
by Duatepe
Replied by Duatepe on topic TCP - Tool Center Point
Hi again,
Now I am trying to run my ini file suitable with xyzac-trt.ini. I mean I am trying to change my file according to xyzac-trt.ini, but I couldn manage it right. I am a beginner this is why my question can be a simple for now. I attached 2 files and I am trying to manipulate NKCNC5_arge.ini file to be suitable for 5 axis. But I am getting some problems when I change by "SUBROUTINE_PATH = ./examples" like
waiting for s.joints<0>, s.kinematics_type<0> ...
so I cant solve and understand the backround for now. Could you give me an idea how will manipulate my file. NKCNC5_arge.ini points a real machine actually with 3 axis but also this machine includes 2 axis. if I can manage to manipulate file then I can use this two axis. At first hardware has been connected. MESA card is ok but machine hasnt connected . I am just trying and observe the card output in the office. It means I unlinked the several pins to not check the limit switches etc.. to be able to run the program.
As a result:
Hardware is ok. Mechanic(CNC) is in different place I am not using CNC now.
My purpose is to observe the linuxcnc with real hardware like simulation.
I need to change the NKCNC5_arge(hardware included) suitable with according to simulation ini file
Thank in advance for any help
Now I am trying to run my ini file suitable with xyzac-trt.ini. I mean I am trying to change my file according to xyzac-trt.ini, but I couldn manage it right. I am a beginner this is why my question can be a simple for now. I attached 2 files and I am trying to manipulate NKCNC5_arge.ini file to be suitable for 5 axis. But I am getting some problems when I change by "SUBROUTINE_PATH = ./examples" like
waiting for s.joints<0>, s.kinematics_type<0> ...
so I cant solve and understand the backround for now. Could you give me an idea how will manipulate my file. NKCNC5_arge.ini points a real machine actually with 3 axis but also this machine includes 2 axis. if I can manage to manipulate file then I can use this two axis. At first hardware has been connected. MESA card is ok but machine hasnt connected . I am just trying and observe the card output in the office. It means I unlinked the several pins to not check the limit switches etc.. to be able to run the program.
As a result:
Hardware is ok. Mechanic(CNC) is in different place I am not using CNC now.
My purpose is to observe the linuxcnc with real hardware like simulation.
I need to change the NKCNC5_arge(hardware included) suitable with according to simulation ini file
Thank in advance for any help
Last edit: 10 Jan 2024 08:06 by Duatepe.
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10 Jan 2024 08:26 #290337
by Aciera
Replied by Aciera on topic TCP - Tool Center Point
what are these two extra joints for?
[JOINT_5]
TYPE = ANGULAR
HOME = 0
MAX_VELOCITY = 30
MAX_ACCELERATION = 300
MIN_LIMIT = -36000
MAX_LIMIT = 36000
HOME_SEARCH_VEL = 0
HOME_SEQUENCE = 0
[JOINT_8]
TYPE = LINEAR
HOME = 0
MAX_VELOCITY = 200
MAX_ACCELERATION = 800
MIN_LIMIT = -500
MAX_LIMIT = 500
HOME_SEARCH_VEL = 0
HOME_SEQUENCE = 0Please Log in or Create an account to join the conversation.
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