Skew correction/perpendicularity correction (millkins or millkins_xyz)

you need to install the build dependencies. See 4.2.2 in the linked documentation above.

I think now it's success compile.
 

then I cmd : sudo make setuid

I try open sim xyzbc-trt-kins
I'm open hallshow and click to check inside pin--> xyzbc-trt-kins   but not have show pin skew-y
have any step ?
 

Thank you,
Asis

1. Note that the compiled installation is separate from the package installation you worked with before so you need to modify '~/linuxcnc-source-dir/src/emc/kinematics/trtfuncs.c'

2. then cd to ~/linuxcnc-source-dir/src and run
3. if that was successful you can start the compiled installation:

Hi Aciera,
Now it's Work !!!

I miss  source scripts/rip-environment

But....I think not correct output When in Mode : 0 Identify , because Identify not have skew

when change to mode to : 1 TCP  , Y move  and X skew correct
When I turn off TCP change to : 0 Identify Mode .   X will change to Y/0.5  off skew

In picture Mode 1 TCP   
X30
Y30

Then, I change mode from 1 (TCP) to 0 (Identify)  X and Y will change to
X15
Y30

In real I think in DRO will X30 Y30  (I think you understand me)

can you help me for check code again ?  ^^"  

Super thanks,
Asis

 

 

That is correct there is no skew correction in identity kinematics. Note though that my modifications are NOT what you need as the skew is in the work coordinate system (ie the correction rotates with the table) which is not correct, you want the skew correction to be applied to the machine coordinate system (ie it remains oriented to the machine joints regardless of table rotation).
To make a serious effort to get this working I would not bother with the built in trt kinematics but would use the more recently added userkins.comp template and build a new kinematic from scratch.
Re userkins.comp:
forum.linuxcnc.org/10-advanced-configura...mill?start=30#258311
For an example of how to derive a kinematic see:
forum.linuxcnc.org/10-advanced-configura...mill?start=80#263694
The finished kinematic see:
github.com/LinuxCNC/linuxcnc/blob/master.../xyzab_tdr_kins.comp

To derive the forward and inverse kinematic model I would recommend using jupyter notebook and ipython. However, you need to be, or be prepared to make yourself, comfortable using matrices.

Hi
Thank you for fast reply.
Ok, I will try using the URLs you provided to study further. Maybe one day, I might be able to create it on my own.
Even though the chances are slim with my basic knowledge , I will give it a try.
The way you provided links for me to continue learning is really great I get to learn new things all the time.
Thank you so much for always helping me, from the first day I started using LinuxCNC until now (although I’ve stopped using Mint). It has been amazing!

forum.linuxcnc.org/9-installing-linuxcnc...ewbie?start=0#278679

Super Thanks  Tommylight, RodW, and you Aciera. 
second thanks : Online translator

Asis

For an easier start on how to use jupyter notebook and ipython to derive the kinematic linked above you can directly load the notebook used to create it and the documentation to study/modify:
github.com/Sigma1912/LinuxCNC_Demo_Confi...0Kinematics%20.ipynb
This contains all the python code blocks that handle the math.

So my approach (which may be wrong though) would be to start end the kinematic chain with a matrix for the skew (also called 'shear') which has the form:
 

The inverse looks the same with the shear elements (ie lambda and mu) negative