switchkins - using own kinematics module as kinstype=2

Thanks, I will try that.

I changed the trtfuncs.c file to my needs (my file is attached) and rebuild linuxcnc (terminal notes are also attached). I tested LinuxCNC, but the kinematics are still the same (TCP like).

Do I have to rerun anything else, so that LinuxCNC uses the changed file? I have a feeling, I am missing something. Everytime I make changes to the trtfuncs.c file, nothing changed, despite rebuilding LinuxCNC.

Any help appreciated!

Only explanation I can come up with is that you are not setting the environment to the correct installation folder you used to build linuxcnc to.

The other way would be to use the above mentioned "userkins.comp" template as that doesn't require a rebuild but can be installed using "halcompile".

How do I set the environment to the correct folder? Can't really follow you at that point.

I presume you have installed linuxcnc something like this, ie a rip-install into a folder called "linuxcnc-dev" or using another folder name:

> git clone git://github.com/linuxcnc/linuxcnc.git linuxcnc-dev
> cd linuxcnc-dev/src
> ./autogen.sh
> ./configure --with-realtime=uspace
> sudo make setuid

Then after that you need to set the environment like this:
> source ../scripts/rip-environment

Then you can start linuxcnc from the rip-installation
> linuxcnc

Thank you so much for your help. I had to run it out of the terminal.

Now, I have compensation for xyzac and xyzbc machines with an offset of the Rotary Axis without using TCP.