About RTCP questions

Hi everyone！
My English is not good, I am Chinese.
I'm a DIY fan
I want to configure a five-axis linkage machine tool.

Machine tool structure is as follows:
X Y Z A(Rotary table) B(rotary head)
If I want to have RTCP function.
Do I need to modify the 5axiskins.c?
"5 axiskins. C" is for "XYZBC"?
How to switch RTCP mode？


Look at this:



Hope to have help
Lee

819132306 wrote: Do I need to modify the 5axiskins.c?

It might just work as it is.

How to switch RTCP mode？

That's called "World Mode". There is a menu option on the Axis interface, or you can use the $ shortcut (not helpful if your keyboard doesn't have "$").

You can't switch to World mode in Touchy. I am not sure about other interfaces.

andypugh wrote:

819132306 wrote: Do I need to modify the 5axiskins.c?

It might just work as it is.

How to switch RTCP mode？

That's called "World Mode". There is a menu option on the Axis interface, or you can use the $ shortcut (not helpful if your keyboard doesn't have "$").

You can't switch to World mode in Touchy. I am not sure about other interfaces.

Thank you!
andy

Do I need to build a similar 5 axiskins. C file？
Whether can run on the G code when switching the world mode?

819132306 wrote: Do I need to build a similar 5 axiskins. C file？

Have you tried to use the existing 5axiskins file?
It is a simple change to the HAL file you just change "trivkins" to"'5axiskins"

Whether can run on the G code when switching the world mode?

Yes, you need to be in World (XYZ] mode before you can run G-code when using a non-trivial kinematics.

(A non-trivial kinematics is one where there is not a 1:1 correlation between a G-code axis word and a motor position)

"5axiskins" can support arbitrary structure of five-axis machine tools?

819132306 wrote: "5axiskins" can support arbitrary structure of five-axis machine tools?

No. But are you sure that your machine isn't the same as the machine that the kinematics was written for?

andypugh wrote:

819132306 wrote: "5axiskins" can support arbitrary structure of five-axis machine tools?

No. But are you sure that your machine isn't the same as the machine that the kinematics was written for?

Thank you,
Andy,
I want to write kinematics on my own.
Do you have a tutorial or information on this?

819132306 wrote: I want to write kinematics on my own.
Do you have a tutorial or information on this?

All there is is the manual:
linuxcnc.org/docs/2.7/html/motion/kinematics.html

Thank you