Kinematics... again:/

In LinuxCNC v2.8 there are separate sections in the INI for [JOINT_0] and [AXIS_X] for example.

For a non-trivkins robot I strongly suggest using LinuxCNC v2.8, actually.

What errors did you get? You can copy from the error dialog and paste here.

your robot is on video at first your post?

in these case you need to change your kins. You not can use the robokins .... but you can modify it .... actually (probabily because not read it) axis0 or axis1 not perform the linear movement that see on video ... robokins has 6 rotary axis ... you must add your optional linear axis in these way:
if you not use joint 5 or 4 not connect it at all but insert it on hal and ini file ... simply make it unconnected and perform zero axis on place ....

You have an optional join/axiswhich works in addition to some axis in cartesian world so probabily you must add & subtract it in linear manner (so in these case joint = axis) from x or y or z ... never try to play with robokins so I not know the cartesian axis orientation ... but these is your first kins problem.

regards
Giorgio

k-1 wrote: your robot is on video at first your post?

in these case you need to change your kins. You not can use the robokins o

I believe that the robokins that I posted was the kinematics used with the actual machine in the video.

I was given another PC to play with and i'm going to install linuxcnc 2.8 as Andy suggested. It will take some time though. I'm curious about those joints. The joints count used in INI/HAL have to be the same as in kinematics file, right? According to C file (robokins.c) first joint (joint 0) is linear so i thought i have to set it linear in INI file as well.
Mr. K-1: the sentence:

world->d = joint[6]; and world->d = joint[6];

is a mystery for me, firstly b'cause both parts are the same, secondly i thought there are XYZ ABC and UVW coords in cnc world...

Ok, but where is LinuxCNC v.2.8? On linuxcnc.org the highest number is 2.7.8
Here is info on 2.7.8 version but no LiveCD ISO source:

linuxcnc.org/2016/11/09/LinuxCNC-2.7.8/

LiveCD ISO source is for 2.7 Wheezy:

linuxcnc.org/docs/2.7/html/getting-start...etting-linuxcnc.html

2.8 is currently the development branch of Linuxcnc (aka Master). You can get it from buildbot by adding the appropriate repository references found here.
buildbot.linuxcnc.org/