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@Fabian,

Thanks for your responce.

To me it looks like eq. 40 is all about k, kappa (curvature).

Then x~``traj(s0) for example :
- This is second derivate = curvature, given the ``
- Is already transfomed, given the ~ above the x
- Is for startpoint s0.
- Is for x coordinate.

- It is the curvature kappa value for the transformed startpos?

- I now get it, that a line has no curvature, so value is : 0
- So for a arc, we just put in the curvature value like : "1/Radius" normally.  But they use eq.30 :   -1/r*cos(s/r).....etc.... Why so difficult?



I did a little play around. Nothing seriously.
We can use this little program also to validate other curves.

Setup:
2 red lines, lenght 100mm, are connected by a clothoid at xy ground plane.
The lines have a offset 100mm.
After drawing the clothoid, we know the clothoid total length.

Test:
For the first line we lift the startpoint off the plane, given the z value.
For the second line we lift the endpoint off the plane, given the -z value.
Then both lines are out off plane, they don't share any plane anymore.

Still we are able to project a clothoid on the groundplane.
In the second picture the z value of one end of the line is already z219 and z-219.

On the ground plane i projected the red 2 lines, given the yz plane. (side view)
between the 2 lines is the clothoid lenght for xy. So clothoid is streched out to straight line.
Then another algo growns the xy lenght until the 3d clothoid ends are colinear to the red lines in 3d.

 
 
 
 

I took a stab at making a hal component but was having issues getting it to compile with comp. Seems like comp isnt installed ("which comp" returns nothing) running the 2.9.3 iso

Sounds like you might want to read the docs:
linuxcnc.org/docs/html/hal/comp.html

Where did you place the file?

Did you install Mesa CT?

JT

If not using the Flexi-HAL board, I'd recommend to use the standard remora-spi component. First step is to get a basic 3 axis configuration up and running and then add in the additional axes.

There are various config examples here:
github.com/scottalford75/Remora/tree/mai...nuxCNC/ConfigSamples

dont use the flexihal configs for this, download the sample configurations from the remora github and try with those

I think I misread that first error,
remove the xhc-whb04b-6.hal

Hi,
I'm using linuxcnc since a while. I upgraded a few weeks ago: Now I'm using a Rpi and a MESA 7C81. I'm having 3 axis and a fixed vertical spindle motor and a separated a-axis. All 4 axes are running with stepper motors.

I'm using inventor-hsm for creating G-code which works pretty good. Unfortunately, it is very limited, when using it in connection with the A-axis. Although the software is able to unwrap a geometry I can only run it to mill out closed pocked (also when it is wrapped). Very frequently I need to reduce a diameter and there is no operation available for this. I can only do this in indexed mode (several phi-angles and slicing in z). 

Luckily the software can also produce code for turning machines, so I could create code for such a machine. The only thing I need to do is to turn on a horizontal spindle, you see my idea?

So my question: 
Is there a possibility to configure linuxcnc in such a way that I can use my A-stepper axis for running as horizontal spindle?

What I need is a G-command turning the horizontal spindle on in a certain speed and a G-command for turning it of, during the turn-on the stepper needs to run continuously. I know its a bit absurd

Georg