TCP - Tool Center Point

Hi everyone, I am new in LinuxCNC. We making a CNC machine and my boss want me to enable TCP mode with that, so as you see I dont have any information about that, I have read linuxcnc doc as much as I can to understand cnc basics and linuxCNC and now I think I reached the  point to ask this question and understand the answers. I have to commision this feature as much as possible. I will be very happy with your helps. Thanks in advance.
Now My first question -> does the any variable exist to enable the TCB mode or should I make some math for that.
2) if I have to write some equations how will perform it how can I get this equations.
 

TCP kinematics have been done for a number of machine setups in linuxcnc.
Have a look at the simulation configurations in the 'sim/axis/vismach/5axis' section.

I have also recently presented two configs for rotating-nutating spindles that include TCP kinematics:

forum.linuxcnc.org/show-your-stuff/49103...versal-nutating-head

Thank you for response,yes I checked it out and I want to find the kinematic equations about that, where is the file location.

For the sim configs:

Have a look in the config folder and open the .ini file then look for 'KINEMATICS' entry in the '[KINS]' section.
Example from the 'table-dual-rotary' config:


KINEMATICS = xyzab_tdr_kins



The kinematic file used in this config is called 'xyzab_tdr_kins' (extension will be either '.c' or '.comp' and the location is either 'src/emc/kinematics' or 'src/hal/components/')

For ' xyzab_tdr_kins.comp' look in 'src/hal/components/'

There is a thread with complete documentation on how to derive the kinematic model used for this particular configuration.

I see no any equation in "xyzac-trt-kins.c" in " github.com/LinuxCNC/linuxcnc/blob/master...ics/xyzac-trt-kins.c "
but in .comp I can see some equations in
" github.com/LinuxCNC/linuxcnc/blob/master.../xyzab_tdr_kins.comp "
But this is "xyzab_tdr_kins" which simulation doesnt use that. It uses "xyzac-trt-kins" .

Okay I found it. Thank you for reply. I will continue to read the doc

There is also documentation for the 'xyzac-trt-kins' kinematic model:
linuxcnc.org/docs/html/motion/5-axis-kinematics.html

Spammer booted.
Thank you.

Hi again,
Now I am trying to run my ini file suitable with xyzac-trt.ini. I mean I am trying to change my file according to xyzac-trt.ini, but I couldn manage it right. I am a beginner this is why my question can be a simple for now. I attached 2 files and I am trying to manipulate NKCNC5_arge.ini file to be suitable for 5 axis. But I am getting some problems when I change by "SUBROUTINE_PATH = ./examples" like
waiting for s.joints<0>, s.kinematics_type<0> ...
so I cant solve and understand the backround for now. Could you give me an idea how will manipulate my file. NKCNC5_arge.ini points a real machine actually with 3 axis but also this machine includes 2 axis. if I can manage to manipulate file then I can use this two axis. At first hardware has been connected. MESA card is ok but machine hasnt connected . I am just trying and observe the card output in the office. It means I unlinked the several pins to not check the limit switches etc.. to be able to run the program. 
As a result:
Hardware is ok. Mechanic(CNC) is in different place I am not using CNC now.
My purpose is to observe the linuxcnc with real hardware like simulation.
I need to change the NKCNC5_arge(hardware included) suitable with according to simulation ini file
Thank in advance for any help

 

what are these two extra joints for?