5axiskins tool offset

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04 May 2020 23:10 #166689 by AndrewL
How do you apply a tool offset to the 5axiskins so that the machine will rotate around the tool tip?

So far, this is what I'm trying on a mostly stock "Sim-5Axis Bridge Mill (xyzbc)" config.:
[HAL]
HALCMD = net :tool-len motion.tooloffset.w 5axisgui.tool_length
# HALCMD = net pivot-len motion.tooloffset.w 5axiskins.pivot-length (this will not work)
HALCMD = setp 5axiskins.pivot-length 200 (This alters the right parameter but will not adapt to a tool change)

Then G Code:
M6 T1 G43 (With some W offset in the tool table)
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05 May 2020 06:49 #166741 by bbsr_5a
Replied by bbsr_5a on topic 5axiskins tool offset
the Standard tooltable ofsets shoudt work no need to apply offsets by W axis
what kinetics are you using the 2.8 master got a new kinetics file for the 5axis standard AC BC

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05 May 2020 13:02 #166769 by AndrewL
Replied by AndrewL on topic 5axiskins tool offset
linucnc-uspace-dev 1:2.8.0~pre1.5843
KINEMATICS = 5axiskins
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14 May 2020 17:22 #167765 by AndrewL
Replied by AndrewL on topic 5axiskins tool offset
Switching kinematics between 5axiskins and trivkins may be a solution. I wanted to begin by using the halcompile to load some kinematics from:
github.com/LinuxCNC/linuxcnc/tree/master/src/emc/kinematics

However, when I try this in the terminal, I get errors. What is wrong?
sudo halcompile --install switchkins.c

Compiling realtime switchkins.c
In file included from switchkins.c:17:0:
/home/engineering/Desktop/CMS_programming_Components/halcompile_files/switchkins.h:27:19: error: unknown type name ‘kparms’
/home/engineering/Desktop/CMS_programming_Components/halcompile_files/switchkins.h:31:28: error: unknown type name ‘kparms’
/home/engineering/Desktop/CMS_programming_Components/halcompile_files/switchkins.h:32:28: error: unknown type name ‘KS’
/home/engineering/Desktop/CMS_programming_Components/halcompile_files/switchkins.h:32:39: error: unknown type name ‘KS’
/home/engineering/Desktop/CMS_programming_Components/halcompile_files/switchkins.h:32:50: error: unknown type name ‘KS’
switchkins.c:21:1: error: unknown type name ‘kparms’
switchkins.c: In function ‘gui_forward_kins’:
switchkins.c:89:15: error: request for member ‘gui_kinstype’ in something not a structure or union
switchkins.c:95:21: error: request for member ‘gui_kinstype’ in something not a structure or union
switchkins.c:98:33: error: request for member ‘gui_kinstype’ in something not a structure or union
switchkins.c:99:33: error: request for member ‘gui_kinstype’ in something not a structure or union
switchkins.c:100:33: error: request for member ‘gui_kinstype’ in something not a structure or union
switchkins.c:101:33: error: request for member ‘gui_kinstype’ in something not a structure or union
switchkins.c:102:33: error: request for member ‘gui_kinstype’ in something not a structure or union
switchkins.c:103:33: error: request for member ‘gui_kinstype’ in something not a structure or union
switchkins.c: In function ‘kinematicsForward’:
switchkins.c:177:11: error: request for member ‘gui_kinstype’ in something not a structure or union
switchkins.c: In function ‘rtapi_app_main’:
switchkins.c:235:7: error: request for member ‘kinsname’ in something not a structure or union
switchkins.c:236:7: error: request for member ‘halprefix’ in something not a structure or union
switchkins.c:237:7: error: request for member ‘max_joints’ in something not a structure or union
switchkins.c:238:7: error: request for member ‘required_coordinates’ in something not a structure or union
switchkins.c:239:7: error: request for member ‘fwd_iterates_mask’ in something not a structure or union
switchkins.c:240:7: error: request for member ‘gui_kinstype’ in something not a structure or union
switchkins.c:242:7: error: request for member ‘sparm’ in something not a structure or union
switchkins.c:244:5: error: unknown type name ‘KS’
switchkins.c:245:5: error: unknown type name ‘KS’
switchkins.c:246:5: error: unknown type name ‘KS’
switchkins.c:255:14: error: request for member ‘fwd_iterates_mask’ in something not a structure or union
switchkins.c:261:12: error: request for member ‘kinsname’ in something not a structure or union
switchkins.c:263:12: error: request for member ‘halprefix’ in something not a structure or union
switchkins.c:264:11: error: request for member ‘halprefix’ in something not a structure or union
switchkins.c:264:27: error: request for member ‘kinsname’ in something not a structure or union
switchkins.c:265:59: error: request for member ‘halprefix’ in something not a structure or union
switchkins.c:268:11: error: request for member ‘max_joints’ in something not a structure or union
switchkins.c:268:32: error: request for member ‘max_joints’ in something not a structure or union
switchkins.c:271:11: error: request for member ‘gui_kinstype’ in something not a structure or union
switchkins.c:285:26: error: request for member ‘kinsname’ in something not a structure or union
switchkins.c:295:11: error: request for member ‘gui_kinstype’ in something not a structure or union
switchkins.c:308:40: error: request for member ‘required_coordinates’ in something not a structure or union
switchkins.c:310:12: error: called object ‘ksetup0’ is not a function
switchkins.c:311:12: error: called object ‘ksetup1’ is not a function
switchkins.c:312:12: error: called object ‘ksetup2’ is not a function
switchkins.c:319:41: error: request for member ‘kinsname’ in something not a structure or union
make: *** [switchkins.o] Error 1

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15 May 2020 04:02 #167807 by Aciera
Replied by Aciera on topic 5axiskins tool offset
I found that halcompile does not handle kinematics files well. You might want to try the proper build process.
linuxcnc.org/docs/2.8/html/code/building-linuxcnc.html

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15 May 2020 08:39 #167821 by bbsr_5a
Replied by bbsr_5a on topic 5axiskins tool offset
the switchkins shoudt be part of the new 2.9 as so many of the 5Axis mashine users like to use it

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18 May 2020 19:39 #168182 by AndrewL
Replied by AndrewL on topic 5axiskins tool offset
At some point, I don't know when, my 5axiskins stopped working properly. If I create a generic vismach 5axis bridge mill configuration the vismach simulation moves as you would expect but x (joint 0) and y (joint 1) are no longer are coordinated with C in 'AXIS'. Any suggestions as to where to find what went wrong?

At this time, I'm running linuxcnc-uspace-dev 1:2.8.0~pre1.5880.gef6ad1a on Debian Wheezy
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25 Nov 2023 17:31 #286481 by choqui2010
Replied by choqui2010 on topic 5axiskins tool offset
Hello, were you able to solve the tool compensation issue in 5axiskins? I also find myself stuck there

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25 Nov 2023 17:44 #286482 by Aciera
Replied by Aciera on topic 5axiskins tool offset
Have you setup your hal to add the tool_offset to the pivot length?

See '/axis/vismach/5axis/bridgemill/5axisgui.hal':

loadusr -W 5axisgui
# to set different pivot_len, use:
#   'loadusr -W 5axisgui pivot_len=value'

net :jx  joint.0.pos-fb 5axisgui.jx
net :jy  joint.1.pos-fb 5axisgui.jy
net :jz  joint.2.pos-fb 5axisgui.jz
net :jb  joint.3.pos-fb 5axisgui.jb
net :jc  joint.4.pos-fb 5axisgui.jc
net :jw  joint.5.pos-fb
net :jy2 joint.6.pos-fb

# Note: no joint or motor connections are used
# for the w coordinate

# compute pivot-length needed for 5axiskins
# according to gui pivot_len and tool z offset
loadrt sum2 names=pivotsum
addf pivotsum servo-thread

net :gui-pivot-len <= 5axisgui.pivot_len
net :gui-pivot-len => pivotsum.in0

net :tool-len <= motion.tooloffset.z
net :tool-len => pivotsum.in1
net :tool-len => 5axisgui.tool_length

net :pivot-len <= pivotsum.out
net :pivot-len => 5axiskins.pivot-length

net :tool-diam <= halui.tool.diameter
net :tool-diam => 5axisgui.tool_diam

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25 Nov 2023 18:43 #286484 by choqui2010
Replied by choqui2010 on topic 5axiskins tool offset
Thank you very much for answering, Here is what I don't understand, in my model I don't get those configurations. In the configuration that you sent me, I understand that it is from a vismach and if I put it as it is in my hal file, it will not work, so what letters or parameters should I modify? (Please help, I am very new and forgive my English, I use Google Translate)

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