TCP 5-axis kinematics

daidai wrote:

The current version of linuxcnc is 2.8.0.
Are you saying I need to upgrade to 2.9.0?

If you want switchable kinematics, yes. Not if you just want conventional XYZAC-TRT kinematics. 
 

Hi
Only now have I done the correct kinematics for the MAKA machine.


But I have a problem with the W axis. He will make a mistake after one millimeter. It doesn't matter what the speed is. (parameter F)
The movement of the W axis is also 1 mm


Kinematics: 5axiskins
LC: master 2.9.0.
I can't find an error in my configuration. Please help.

Another question: How do I set the Pivot-length parameter to fixed? The default is set to 250mm.

for w joint 5:
net j5loop <= joint.5.motor-pos-cmd
net j5loop => joint.5.motor-pos-fb


For pivot-length use:
5axiskins.pivot-length

the sim config shows example computing pivot-length

github.com/LinuxCNC/linuxcnc/tree/master...ach/5axis/bridgemill
github.com/LinuxCNC/linuxcnc/blob/master...dgemill/5axisgui.hal
 

Thank you, he's working right now

I referenced xyzac-trt-kins in my .INI-file. I have an XYYZAC setup.
After starting LinuxCNC it shows 6 axis as joints. After homing, it shows x,y,z,a and c. Nothing wrong there.

My problem: my joints are not moving correctly. X moves fine, but only one of my y-axis-joints is moving. When trying to move z, it is moving y2 and so on... I guess LinuxCNC "forgets" my gantry setup in the xyzac-trt-kins setup.

Any suggestions, what´s the issue?

I should add, that I am homing on the spot manually for test purposes.

Are you passing the coordinate list to xyzac-trt-kins that matches your joint allocations?

Also, which version of LinuxCNC are you using? It looks like the version in 2.9 (unreleased development version) supports gantry axes, but the version in 2.8 does not.

I am sorry, I don´t know how to pass the coordinate list to the xyzac-trt-kins. Where can I do that?
Do you mean the assignment in the INI file as: KINEMATICS = xyzac-trt-kins coordinates = xyyzac?
Is there anything else I need to assign in the HAL file?

I am using LinuxCNC 2.9

mittim wrote:

Do you mean the assignment in the INI file as: KINEMATICS = xyzac-trt-kins coordinates = xyyzac?

That's what I meant. Is it not working? 

 

Try it without spaces around the = signs.

Ist there anything I need to change in my hal file?
Getting the following error message.

Maybe hardcoding the trtfuncs.c could help? I would change the assignment of joint 3 from "JZ" to "JY2" and move any further joint according to that.