XYZZBC-trt-kins module

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5 years 11 months ago #188142 by kimachren
XYZZBC-trt-kins module was created by kimachren
Hello,

I have desperately been trying to build a custom version of xyzbc-trt-kins with double Z. After having fought with getting a working halcompile, I ended up with an error like Undefined symbol "map_coordinates_to_jnumbers" when starting Linuxcnc. Could somebody be so kind and make a working kins module for me? My build is the latest Stretch found on buildbot (2.8.0.98 preemtrt).

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5 years 11 months ago #188178 by Aciera
Replied by Aciera on topic XYZZBC-trt-kins module
I don't think you need a custom kinematics module at all as the Z is already being calculated in the existing kinematic.
Have you tried to add the second Z as a dual motor in the INI like a gantry?

Maybe you can get something out of this:

forum.linuxcnc.org/49-basic-configuratio...l-motor-gantry#86933

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5 years 11 months ago #188184 by kimachren
Replied by kimachren on topic XYZZBC-trt-kins module
The machine runs fine with trivkins. But I need TCP, so xyzbc-trt-kins is needed. When I change from trivkins -> xyzbc-trt-kins in .ini and .hal, only one Z-motor runs with Z jogging. When jogging B, the other will run.
In the [KINS] section, the "coordinates" is "XYZZBC"

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5 years 11 months ago #188185 by Aciera
Replied by Aciera on topic XYZZBC-trt-kins module
So I think it's a problem of joint numbering as I don't think the kinematic needs to handle the dual motor. I could be wrong though.
Can you post your hal and ini files?

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5 years 11 months ago #188187 by kimachren
Replied by kimachren on topic XYZZBC-trt-kins module
Actually I read in some other thread that the kins indeed must be modified to accept a dual motor axis. So I don't know..

The files are coming soon

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5 years 11 months ago #188188 by kimachren
Replied by kimachren on topic XYZZBC-trt-kins module
These are the files as they were yesterday.

Edit: I noticed that the .hal has xyzzbc-trt-kins (my custom ver.), but it didn't work with the original either.

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5 years 11 months ago #188191 by Aciera
Replied by Aciera on topic XYZZBC-trt-kins module

Actually I read in some other thread that the kins indeed must be modified to accept a dual motor axis.


After a cup of coffee I've also changed my mind about this.

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5 years 11 months ago #188192 by Aciera
Replied by Aciera on topic XYZZBC-trt-kins module
In your INI I don't see the dual motor setup as in a gantry. To pair a second motor wouldn't you define the HOME_SEQUENCE with a negative sign as in the config in the thread I referred to in my first post?

Code:
#****************** # Axis Y #****************** [AXIS_Y] MIN_LIMIT = -1.0 MAX_LIMIT = 715.0 MAX_VELOCITY = 100.0 MAX_ACCELERATION = 750.0 [JOINT_1] TYPE = LINEAR HOME = 0.0 MAX_VELOCITY = 100.0 MAX_ACCELERATION = 750.0 STEPGEN_MAXACCEL = 937.5 SCALE = 133.333333333 FERROR = 1 MIN_FERROR = .25 MIN_LIMIT = -1.0 MAX_LIMIT = 715.0 HOME_SEARCH_VEL = -25.00000 HOME_LATCH_VEL = 0.500000 HOME_FINAL_VEL = 2.500000 HOME_IGNORE_LIMITS = YES HOME_OFFSET = -2.0 # ---negative sequence number ensures both Y joints # wait to back off the HOME_OFFSET simultaneously--- HOME_SEQUENCE = -1 [JOINT_2] TYPE = LINEAR HOME = 0.0 MAX_VELOCITY = 100.0 MAX_ACCELERATION = 750.0 STEPGEN_MAXACCEL = 937.5 SCALE = 133.333333333 FERROR = 1 MIN_FERROR = .25 MIN_LIMIT = -1.0 MAX_LIMIT = 715.0 HOME_SEARCH_VEL = -25.00000 HOME_LATCH_VEL = 0.500000 HOME_FINAL_VEL = 2.500000 HOME_IGNORE_LIMITS = YES HOME_OFFSET = -2.0 # ---negative sequence number ensures both Y joints # wait to back off the HOME_OFFSET simultaneously--- HOME_SEQUENCE = -1

[edit]
Realized that really I have not much of a clue about the pairing of motors. So I should probably do some homework first. : LOL:

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5 years 11 months ago #188195 by kimachren
Replied by kimachren on topic XYZZBC-trt-kins module
I will have to disagree on the HOME_SEQUENCE as it has worked just fine with both Z's having home_seq 0 for a few years now ( with trivkins).

Copied from documentation:

"Used to define a multi-axis homing sequence HOME ALL and enforce homing order (e.g., Z may not be homed if X is not yet homed). An axis may be homed after all axes with a lower HOME_SEQUENCE have already been homed and are at the HOME_OFFSET. If two axes have the same HOME_SEQUENCE, they may be homed at the same time. If HOME_SEQUENCE is -1 or not specified then this joint will not be homed by the HOME ALL sequence. HOME_SEQUENCE numbers start with 0 and there may be no unused numbers."

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5 years 11 months ago #188199 by Aciera
Replied by Aciera on topic XYZZBC-trt-kins module
Yes, this thing with the negative number for the home sequence apparently is needed for the homing process. That is then unrelated, sorry about that.

I have successfully modified the trt-kins in the past to substitute the C axis for a trivial U axis. But I fear it was a rather fumbling and stumbling affair.

Maybe somebody will come along who actually knows what to do.

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