5 Axis ParPort Stepper Setup with RTCP

Hello people,


I did checked Kinematics.c and all files, i found myself dumb. :S ... i dont get idea where to start from. basically i think my task is simple but i dont know where to start from. so thing is See rotary table in C axis will not have any relation with any axis for any compensation, it will be always XZ-B but i dont know how to unlink C Axis and Y axis from kinematics hal and ini... somebody give me direction ....

marq_torque wrote: i dont get idea where to start from.

Start with a pencil, paper and trigonometry.

okay yes i can do math for XZB and thing is its already configured in 5Axis kin. i am testing right now. is it possible to modify it ??

marq_torque wrote: its already configured in 5Axis kin. i am testing right now. is it possible to modify it ??

If you are using 5axiskins and that is geometrically correct for you then you probably only have to change the pivot-legth HAL parameter to make it suit your machine.

I am still not clear what your degrees of freedom are.

If you look them two machines, i have already XYZBCW configured 5Axis Kin working now, and what i am trying to do is, as another picture of machine. it says XZB are independent, and C is having no relation with tool length compensation with B axis in my configuration Head is having only One rotary axis is B and its compensated as per tool length and move XZ accordingly.

C axis is Workpiece, Rotary table. so i can not use this C axis In head !

You probably need to replace the C-axis terms in the equations with 0 then, ie edit lines 44 and 65 here:
git.linuxcnc.org/gitweb?p=linuxcnc.git;a...80e5de935e15;hb=HEAD

So that axis C / joint 5 is replaced by a constant 0.

You might be able to compile the edited kinematics file with halcompile.

alright andypugh,

now i am confused ... 0 or 1 ??and what if i delete whole line ?? i mean i am not getting how to !! sorry ...

marq_torque wrote: now i am confused ... 0 or 1

0. I think. Possibly 90 or 180 or -90. It depends.

and what if i delete whole line ?? i mean i am not getting how to !! sorry ...

If you delete the whole line then the kinematics won't work at all.

but i need c axis to moving simultaneously with xzb