5axiskins tool offset

AndrewL
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6 years 5 months ago #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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choqui2010
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2 years 11 months ago #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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Aciera
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2 years 11 months ago #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':

Code:

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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choqui2010
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2 years 11 months ago #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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Aciera
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2 years 11 months ago #286486 by Aciera

Replied by Aciera on topic 5axiskins tool offset

You need to the lines for the kinematic component and set your pivot length:

Code:

loadrt sum2 names=pivotsum

addf pivotsum servo-thread

setp  pivotsum.in0   <your pivot length here>
net :tool-len <= motion.tooloffset.z => pivotsum.in1
net :pivot-len <= pivotsum.out  => 5axiskins.pivot-length

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choqui2010
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2 years 11 months ago #286490 by choqui2010

Replied by choqui2010 on topic 5axiskins tool offset

ERROR.!!
./MARLON.hal:113: Signal 'pivot-len' can not add I/O pin '5axiskins.pivot-length', it already has OUT pin 'pivotsun.out'

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5axiskins tool offset