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  • amanker
  • amanker
27 Oct 2025 12:25
Need Help in Kinamatics of Small DIY 6dof robotic arm. was created by amanker

Need Help in Kinamatics of Small DIY 6dof robotic arm.

Category: Advanced Configuration

I have configured and installed LinuxCNC on RPI5 and I can control individual joint of robotic arm using trivkins. Using PCA9685 as PWM servo controller. Its work good. But I am strugling to get its kinamatic working. Here is photo of my arm with measurements. 
Here is photo of My robotic arm
 

Here are the pin values I used in genserkins
setp genserkins.A-0 0
 setp genserkins.ALPHA-0 0
 setp genserkins.D-0 83.5
 setp genserkins.A-1 45
 setp genserkins.ALPHA-1 -1.570796327
 setp genserkins.D-1 0
 setp genserkins.A-2 100.4
 setp genserkins.ALPHA-2 0
 setp genserkins.D-2 0
 setp genserkins.A-3 12
 setp genserkins.ALPHA-3 -1.570796327
 setp genserkins.D-3 195
 setp genserkins.A-4 0
 setp genserkins.ALPHA-4 1.570796327
 setp genserkins.D-4 0
 setp genserkins.A-5 0
 setp genserkins.ALPHA-5 -1.570796327
 setp genserkins.D-5 58
  • unknown
  • unknown
27 Oct 2025 12:06
Replied by unknown on topic Proposal RPi Linuxcnc Image Based on Raspi OS All welcome/encoraged to comment

Proposal RPi Linuxcnc Image Based on Raspi OS All welcome/encoraged to comment

Category: Installing LinuxCNC

I'll have a look at updating tomorrow and see how it goes.

It would appear the boot splash issue has been resolved.

Now I've looked through the threads on images and it's time for suggestions for splash, login and background images. Splash images have to be smallish PNG files.
  • unknown
  • unknown
27 Oct 2025 11:59 - 27 Oct 2025 23:09
Replied by unknown on topic 2.9.5 should not be available to download due to it being broken.

2.9.5 should not be available to download due to it being broken.

Category: Installing LinuxCNC

I think those Trixie files may have been built on Bookworm, when I built an image last night it pulled the Linuxcnc packages from Debian. Trying to manually install brought up a lot of messages regarding packages that could not be installed.
sudo apt install linuxcnc-uspace=1:2.9.6 linuxcnc-uspace-dev=1:2.9.6
Solving dependencies... Error!  
Some packages could not be installed. This may mean that you have
requested an impossible situation or if you are using the unstable
distribution that some required packages have not yet been created
or been moved out of Incoming.
The following information may help to resolve the situation:

Unsatisfied dependencies:
 linuxcnc-uspace : Depends: python3 (< 3.12) but 3.13.5-1 is to be installed
                   Depends: libboost-python1.74.0 (>= 1.74.0+ds1) but it is not installable
                   Depends: libboost-python1.74.0-py311 but it is not installable
                   Depends: libgpiod2 (>= 1.5.1) but it is not installable
                   Depends: libpython3.11 (>= 3.11.0) but it is not installable
                   Recommends: hostmot2-firmware-all but it is not installable
Error: Unable to correct problems, you have held broken packages.
Error: The following information from --solver 3.0 may provide additional context:
   Unable to satisfy dependencies. Reached two conflicting decisions:
   1. linuxcnc-uspace:arm64=1:2.9.6 is selected as an upgrade
   2. linuxcnc-uspace:arm64=1:2.9.6 Depends python3 (< 3.12)
      but none of the choices are installable:
      [no choices]
  • rodw
  • rodw's Avatar
27 Oct 2025 10:58
Replied by rodw on topic 2.9.5 should not be available to download due to it being broken.

2.9.5 should not be available to download due to it being broken.

Category: Installing LinuxCNC

DO we actually need an image anymore of the Pi is using Trixie? Why not just try one of the official Deb files here?
linuxcnc.org/dists/trixie/2.9-uspace/binary-arm64/
  • rodw
  • rodw's Avatar
27 Oct 2025 10:51
Replied by rodw on topic Proposal RPi Linuxcnc Image Based on Raspi OS All welcome/encoraged to comment

Proposal RPi Linuxcnc Image Based on Raspi OS All welcome/encoraged to comment

Category: Installing LinuxCNC

Now that I have a working Trixie image, one image will work for the 4 & 5 would it be useful for package building for Trixie ?

I doubt it. As of today Andy has got GitHub workflows working for all OS'es including Trixie for both AMD64 and ARM and a full complement of builds on our repo at linuxcnc.org/dists
  • rodw
  • rodw's Avatar
27 Oct 2025 10:46
Replied by rodw on topic Workshop update

Workshop update

Category: Show Your Stuff

Young??? I am 55! :)
And the dog got banned from the shop for a while as i got tired of monitoring her so she does not pee at everything! :)
 

Young!!! you are still a veritable pup compared to some of us like me!
  • rodw
  • rodw's Avatar
27 Oct 2025 10:44
Replied by rodw on topic Which LinuxCNC HW for 2026+?

Which LinuxCNC HW for 2026+?

Category: General LinuxCNC Questions

With newer operating systems like bookworm, there is a huge number of additional features outside of linuxcnc that affect real time and network latency. Plus the world is more complex so there is more hardware to consider. Plus the big push to power saving features has permeated everything.

If you are not using a parallel port, the old latency test is not relevant. Its all about network latency. The network is not real time but we want it to be.

Probably the biggest issue is using the wrong network driver (mainly on Realtek NICs), followed by NIC interrupt affinity. By default all system interrupts including the NIC's are placed on CPU 0 so we need to move the interrupt for your NIC to another core.  

I think this means you now need at least a 4 core CPU (eg Celeron J1900 or higher) as you need to have CPU 0 for the system and a core for the NIC and a core for the real time servo thread.

In summary, if you are not prepared to oprimise the OS for a RT environment, stay on an old and obsolete OS and hardware.
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