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When I said

add the 'skew-y' pin and the corrective terms to the forward and inverse kinematic models

I meant you have to come up with a complete kinematic model for TCP where the machine coordinate system is skewed (ie no longer cartesian).
I'm afraid this is MUCH more complex than to just copy/paste a few lines from one file to another.
Basically what would be needed (I think) is a skew matrix multiplied to the beginning of the forward transformation:
linuxcnc.org/docs/html/motion/5-axis-kinematics.html
Note that adding skew to pure rotation and translation is likely going to make the derivation of the inverse kinematic more challenging.

One questions about variable can use with PDO.
On drive with 26 bit encoder , the PDO coomand position and encoder feedback position , if use float , is saturated with screew 10mm in 328 cm about.
The solution are 2 :
1- change gear numerator and denominator in drive
2-can declare in xml file a variable 64 bit

The 64 bit not is supported ?

Thanks

Es ist der gleiche Fehler mit Variabel.

Das sagt mir leider wenig, Poste doch bitte mal die genaue Fehlermeldung.

Hallo
Habe den Vorschlag getestet, geht aber auch nicht. Es ist der gleiche Fehler mit Variabel.
Gruß Hans

here the square bracket was wrong, maybe that also leads to calculation errors
#<zworkoffset> = [#5063 + [#5203 + [#5220 * 20]]]

You need to be careful with parameter index vs parameter value:
this will add the index offset of the currently active work offset system to the _value_ of parameter 5203 (which is what you do not want here):
while this will add the index offset to 5203 to get the parameter index of the z-offset for the currently active work offset system and thus will give the value of the currently active work offset system (which is what is needed here):

Hi , Aciera
About 4 days .
I can only do this much (attacth file),
and the things I can't do are:
J[0], J[1], J[2]. I don't know how to transform them into the same format as trtkins (it's use joints).

int xyzacKinematicsInverse(const EmcPose * pos,
                           double *joints,
                           const KINEMATICS_INVERSE_FLAGS * iflags,
                           KINEMATICS_FORWARD_FLAGS * fflags)

Hope you advice me for next step.

Thank you,
Asis
 

I no longer have an installation CD

MaHa wrote:

Can you try to replace this 2 lines from

#<zworkoffset> = [#5063 + #[5203 + #5220 * 20] + #5213 * #5210]
#<tool_length> = [#<zworkoffset> - #<_ini[VERSA_TOOLSETTER]Z_REF>]

to

#<zworkoffset> = [#5063 + #[5203 + [#5220 * 20]]]
#<tool_length> = ABS[ABS[#<_ini[VERSA_TOOLSETTER]Z_REF>] - #<zworkoffset>]

 
point calculation before line calculation

here the square bracket was wrong, maybe that also leads to calculation errors
#<zworkoffset> = [#5063 + [#5203 + [#5220 * 20]]]

Ok, I dont know if I have stuffed anything up, but I have cleared the errors and it is now at least running. Partially functional.

This is what I did for reference.

a) In /halib I took a copy of the probe_basic_postgui.hal, called it D_probe_basic_postgui.hal, and then proceeded to delete everything in probe_basic_postgui.hal. So basically probe_basic_postgui.hal it is a file with nothing in it. 

If this requires content for Probe Basic to function properly, please advise.

b) In the "machine name".ini file I have replicated the lines that have a "# Recommended Setting for Probe Basic". I have then deleted all of the "# Recommended Setting for Probe Basic"  comments from one of each of these lines.

e.g. 
#MAX_FEED_OVERRIDE = 2.00000                                            # Recommended Setting for Probe Basic
MAX_FEED_OVERRIDE = 2.00000

From what I can tell the error was because the number was being interpreted as a string because of the comment. So without "# Recommended Setting for Probe Basic" it now reads as a number.

This may well be the issue with the other lines like User_Tabs etc... being interpreted as a complete string and therefore being read incorrectly.

So if I have made any errors here, please let me know as I am a Newbie and NOT a programmer by any stretch. I do no programming at all and very new to Linux.... like weeks. I just follow my nose and hack. So any help/advice would be appreciated.

Thanks.
 

too complicated for me, there is no video or tutorial?
thanks

Well I’m not able to go into pncconf and have it load all the settings it only loads defaults.  I think it’s because when I switched PC’s all I did was copied the .ini and the .hal file into a quickly generated pncconf machine folder and never actually set it up on this PC.  I tried to set it up using your suggested procedure then copying the new lines and pasting them into my hal file but even with the new line: 

# --- MAX-HOME-X ---
net max-home-x     <= [HMOT](CARD0).inm.00.input-02-not
 Its still homing correctly but then when jogging the table it goes to the max and engages the switch again but its not stopping and will proceed to crash.  I did however set MAX_LIMIT in the ini file and it wont crash but it would also be nice to have the limit switch also stop the table.
I think im going to give up for now.  Thanks for the help though.  Maybe ill try again in a few weeks when I find a serious reason to have to have the same limit switch stop the table.  What I have works for now 


*Edit:  Wait never mind, I just found my origonal .xml setup file.  I see if i can get the files in the correct locations to load the pncconf data from the first time I set it all up on the first PC.  I let you know how it all goes.  Anyways thanks again for all the help*

Hi, Done that from ini file re-ran: following error...

Traceback (most recent call last):
File "/usr/bin/probe_basic", line 8, in <module>
sys.exit(main())
^^^^^^
File "/usr/lib/python3/dist-packages/probe_basic/__init__.py", line 20, in main
qtpyvcp.run_vcp(opts, VCP_CONFIG_FILE)
File "/usr/lib/python3/dist-packages/qtpyvcp/__init__.py", line 26, in run_vcp
run(*args, **kwargs)
File "/usr/lib/python3/dist-packages/qtpyvcp/app/__init__.py", line 129, in run
launch_application(opts, config)
File "/usr/lib/python3/dist-packages/qtpyvcp/app/launcher.py", line 78, in launch_application
loadWindows(config)
File "/usr/lib/python3/dist-packages/qtpyvcp/app/launcher.py", line 230, in loadWindows
window = _initialize_object_from_dict(window_dict)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/lib/python3/dist-packages/qtpyvcp/app/launcher.py", line 210, in _initialize_object_from_dict
return obj(*args, **kwargs)
^^^^^^^^^^^^^^^^^^^^
File "/usr/lib/python3/dist-packages/probe_basic/probe_basic.py", line 55, in __init__
self.load_user_buttons()
File "/usr/lib/python3/dist-packages/probe_basic/probe_basic.py", line 65, in load_user_buttons
user_button_folders = os.listdir(user_buttons_path)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
FileNotFoundError: [Errno 2] No such file or directory: 'user_buttons/ # REQUIRED Setting for Probe Basic'

Comment out:

#USER_TABS
​​​​

and attached ini and hal files for reference...And although not in the spec, sserial.hal looks like it was necessary given config is on a 7i76S 7i85S 7i73 based system.

Ok, so installed and getting a few errors after loading and conversion. I definitely feel this is very close to working. Missing some files I believe and maybe a little version control on some config content. The files are attached.
Any help appreciated.