5-axis kinematics B axis invert rotation

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12 Jan 2024 11:38 #290496 by tommy
I would need a little help modifying "default" 5axiskins.c used also by configs/sim/axis/vismach/5axis/bridgemill, and there B axis rotates in opposite direction as I would need for my machine (clockwise around Y axis, looking from machine coordinate 0).

Warning: Spoiler!


 

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12 Jan 2024 11:54 #290497 by andypugh
What exactly is the problem? Is it that the B axis rotates in the wrong direction when commanded to move directly, or that it moves in the wrong direction when it is part of a TCP coordinated move? Or both?

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12 Jan 2024 12:22 #290499 by tommy
You can test it in 5axis bridgemill sim, where B axis rotate/tilt opposite as image below shows for "normal" vertical machining center:


 

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12 Jan 2024 12:40 #290501 by andypugh
Yes, but, is it purely reversed, or only reversed in TCP mode?

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13 Jan 2024 16:53 #290568 by Aciera
I'm not familiar with the posemath library use in the bridgemill config but I've made a sim config for a CB-spindle-rotary-tilting machine that includes TCP and TOOL kinematics (this also includes an A-axis table-rotary).

Documentation is included in the README and the 'Documentation'-folder 

 


 

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13 Jan 2024 18:51 #290574 by tommy
I figured it out it is much easier for me to modify my postprocessor.

Anyway I still need to adjust  #define DEFAULT_PIVOT_LENGTH 250  to different number than 250 inside kinematics file, but can't compile
Compiling realtime 5axiskins.c
Linking 5axiskins.so
/usr/ld:5axiskins.ver:2 syntax error in VERSION script
collect2: error: ld returned 1 exit status
make: *** [/usr/share/linuxcnc/Makefile.modinc:125 5axiskins.so] Error 1

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13 Jan 2024 19:48 #290577 by tommylight
Syntax error is usually a missing or added : or ; or , or typo somewhere, not easy to pinpoint as the report does not give much to go on.

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13 Jan 2024 20:02 #290580 by Aciera
Looking at '5axisgui.hal' I don't think you need to change the kinematic component to change the pivot-length:
loadusr -W 5axisgui
# to set different pivot_len, use:
#   'loadusr -W 5axisgui pivot_len=value'

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14 Jan 2024 17:28 #290673 by tommy
loadusr -W 5axisgui pivot_len=value
I missed this one, it works!

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23 Jan 2024 19:41 #291455 by tommy
Is loading Tk vismach machine simulation window on startup caused by kinematics module or somewhere in .ini? I really don't need it anymore, and would like to turn it off.

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