Planning to Retrofit a Mazak Integrex200Y Mill-Turn Machine

component  xyzcb_tdr_kins "Switchable kinematics for 5 axis machine with rotary table C and B and virtual Y Axis"; description """ This is a switchable kinematics module for a 5-axis milling configuration using 3 cartesian linear joints (XYZ) and 2 rotary table joints (CB). The module contains two kinematic models: type0 (default) is a trivial XYZCB configuration with joints 0..4 mapped to axes XYZCB respectively. type1 is a XYZCB configuration with tool center point (TCP) compensation. Additionally a virtual Y Axis was added for a Mazak Integrex 200Y """; pin out s32 dummy=0"one pin needed to satisfy halcompile requirement"; license "GPL"; author "Jochen Rohm"; ;; #include "rtapi_math.h" #include "kinematics.h" static struct haldata {   // Declare hal pin pointers used for XYZCB_tdr kinematics:   hal_float_t *tool_offset_z;   hal_float_t *x_offset;   hal_float_t *z_offset;   hal_float_t *x_rot_point;   hal_float_t *y_rot_point;   hal_float_t *z_rot_point;   hal_float_t *angleXX;   //Declare hal pin pointers used for switchable kinematics   hal_bit_t   *kinstype_is_0;   hal_bit_t   *kinstype_is_1; } *haldata; static int XYZCB_tdr_setup(void) { #define HAL_PREFIX "xyzcb_tdr_kins"     int res=0;     // inherit comp_id from rtapi_main()     if (comp_id < 0) goto error;     // set unready to allow creation of pins     if (hal_set_unready(comp_id)) goto error;     haldata = hal_malloc(sizeof(struct haldata));     if (!haldata) goto error;     // hal pins required for XYZCB_tdr kinematics:     res += hal_pin_float_newf(HAL_IN ,&(haldata->tool_offset_z) ,comp_id,"%s.tool-offset-z" ,HAL_PREFIX);     res += hal_pin_float_newf(HAL_IN ,&(haldata->x_offset) ,comp_id,"%s.x-offset" ,HAL_PREFIX);     res += hal_pin_float_newf(HAL_IN ,&(haldata->z_offset) ,comp_id,"%s.z-offset" ,HAL_PREFIX);     res += hal_pin_float_newf(HAL_IN ,&haldata->x_rot_point ,comp_id,"%s.x-rot-point" ,HAL_PREFIX);     res += hal_pin_float_newf(HAL_IN ,&haldata->y_rot_point ,comp_id,"%s.y-rot-point" ,HAL_PREFIX);     res += hal_pin_float_newf(HAL_IN ,&haldata->z_rot_point ,comp_id,"%s.z-rot-point" ,HAL_PREFIX);     // hal pins required for switchable kinematics:     res += hal_pin_bit_new("kinstype.is-0", HAL_OUT, &(haldata->kinstype_is_0), comp_id);     res += hal_pin_bit_new("kinstype.is-1", HAL_OUT, &(haldata->kinstype_is_1), comp_id);     // define default kinematics at startup for switchable kinematics     *haldata->kinstype_is_0 = 1; //default at startup -> identity kinematics     *haldata->kinstype_is_1 = 0; //-> XYZCB TCP     if (res) goto error;     hal_ready(comp_id);     rtapi_print("*** %s setup ok\n",__FILE__);     return 0; error:     rtapi_print("\n!!! %s setup failed res=%d\n\n",__FILE__,res);     return -1; #undef HAL_PREFIX } EXPORT_SYMBOL(kinematicsType); EXPORT_SYMBOL(kinematicsSwitchable); EXPORT_SYMBOL(kinematicsSwitch); EXPORT_SYMBOL(kinematicsInverse); EXPORT_SYMBOL(kinematicsForward); static hal_u32_t switchkins_type; int kinematicsSwitchable() {return 1;} int kinematicsSwitch(int new_switchkins_type) {     switchkins_type = new_switchkins_type;     rtapi_print("kinematicsSwitch(): type=%d\n",switchkins_type);     // create case structure for switchable kinematics     switch (switchkins_type) {         case 0: rtapi_print_msg(RTAPI_MSG_INFO,                 "kinematicsSwitch:TYPE0\n");                 *haldata->kinstype_is_0 = 1;                 *haldata->kinstype_is_1 = 0;                 break;         case 1: rtapi_print_msg(RTAPI_MSG_INFO,                 "kinematicsSwitch:TYPE1\n");                 *haldata->kinstype_is_0 = 0;                 *haldata->kinstype_is_1 = 1;                 break;        default: rtapi_print_msg(RTAPI_MSG_ERR,                 "kinematicsSwitch:BAD VALUE <%d>\n",                 switchkins_type);                 *haldata->kinstype_is_1 = 0;                 *haldata->kinstype_is_0 = 0;                 return -1; // FAIL     }     return 0; // ok } KINEMATICS_TYPE kinematicsType() { static bool is_setup=0;     if (!is_setup)  XYZCB_tdr_setup();     return KINEMATICS_BOTH; // set as required            // Note: If kinematics are identity, using KINEMATICS_BOTH            //       may be used in order to allow a gui to display            //       joint values in preview prior to homing } // kinematicsType() int kinematicsForward(const double *j,                       EmcPose * pos,                       const KINEMATICS_FORWARD_FLAGS * fflags,                       KINEMATICS_INVERSE_FLAGS * iflags) {     (void)fflags;     (void)iflags;     double x_rot_point = *(haldata->x_rot_point);     double y_rot_point = *(haldata->y_rot_point);     double z_rot_point = *(haldata->z_rot_point);     double dz = *(haldata->z_offset);     double dt = *(haldata->tool_offset_z);          // substitutions as used in mathematical documentation     // including degree -> radians angle conversion     double       sc = sin(j[3]*TO_RAD);     double       cc = cos(j[3]*TO_RAD);     double       sb = sin(j[4]*TO_RAD);     double       cb = cos(j[4]*TO_RAD);     // used to be consistent with math in the documentation     double       px = 0;     double       py = 0;     double       pz = 0;          #define DEFAULT_ANGLE   (60.0)          // define forward kinematic models using case structure for     // for switchable kinematics     switch (switchkins_type) {         case 0: // ====================== IDENTITY kinematics FORWARD ====================             double angle = *(haldata->angleXX) * PM_PI / 180.0;                          pos->tran.x =   j[0] + j[1] * cos(angle)             pos->tran.y = - j[1] * sin(angle);             pos->tran.z =   j[2];             pos->c      =   j[3];             pos->b      =   j[4];             break;         case 1: // ========================= TCP kinematics FORWARD ======================             px          =    j[0] - x_rot_point + j[1] * cos(angle);             py          = - (j[1] - y_rot_point) * sin(angle);             pz          =    j[2] - z_rot_point - dt;             pos->tran.x =   cb * (cc * px - sc * py) + sb * pz + x_rot_point;             pos->tran.y =   sc * px + cc * py + y_rot_point;             pos->tran.z =  -sb * (cc * px - sc * py) + cb * pz + z_rot_point + dz + dt;             pos->c      = j[3];             pos->b      = j[4];             break;     }     // unused coordinates:     pos->a = 0;     pos->u = 0;     pos->v = 0;     pos->w = 0;     return 0; } // kinematicsForward() int kinematicsInverse(const EmcPose * pos,                       double *j,                       const KINEMATICS_INVERSE_FLAGS * iflags,                       KINEMATICS_FORWARD_FLAGS * fflags) {     (void)iflags;     (void)fflags;     double x_rot_point = *(haldata->x_rot_point);     double y_rot_point = *(haldata->y_rot_point);     double z_rot_point = *(haldata->z_rot_point);     double dx = *(haldata->x_offset);     double dz = *(haldata->z_offset);     double dt = *(haldata->tool_offset_z);     // substitutions as used in mathematical documentation     // including degree -> radians angle conversion     double       sc = sin(pos->c*TO_RAD);     double       cc = cos(pos->c*TO_RAD);     double       sb = sin(pos->b*TO_RAD);     double       cb = cos(pos->b*TO_RAD);     // used to be consistent with math in the documentation     double       qx = 0;     double       qy = 0;     double       qz = 0;     switch (switchkins_type) {         case 0:// ====================== IDENTITY kinematics INVERSE =====================             double angle = *(haldata->angleXX) * PM_PI / 180.0;                          j[0] =   pos->tran.x + pos->tran.y / tan(angle);             j[1] = - pos->tran.y / sin(angle);             j[2] =   pos->tran.z;             j[3] =   pos->c;             j[4] =   pos->b;             break;         case 1: // ========================= TCP kinematics INVERSE ======================             qx   = pos->tran.x - x_rot_point - dx;             qy   = pos->tran.y - y_rot_point;             qz   = pos->tran.z - z_rot_point - dz - dt;             // Hier integrieren wir die virtuelle Achse (pos->tran.y) wie im Identity-Fall:             double qx_virtual = qx + qy / tan(angle);             double qy_virtual = -qy / sin(angle);             j[0] = cc * (cb * qx_virtual - sb * qz) + sc * qy_virtual + cb * dx - sb * dz + x_rot_point;             j[1] = -sc * (cb * qx_virtual - sb * qz) + cc * qy_virtual + y_rot_point;             j[2] = sb * qx_virtual + cb * qz + sb * dx + cb * dz + z_rot_point + dt;             j[3] = pos->c;             j[4] = pos->b;             break;     }     return 0; } // kinematicsInverse()

$ linuxcnc

motmod: dlopen: /usr/lib/linuxcnc/modules/motmod.so: undefined symbol: kinematicsSwitch

rtapi_app: caught signal 11 - dumping core