Is this 5-axis machine possible with LinuxCNC?

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30 Mar 2022 11:31 #238714 by SertanATL
It definitely helped! I now understand what it is clearly.

I will be happy to use RTCP but I don't know how hard it is to configure in comparison to configuring the machine without RTCP.

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07 Apr 2022 07:43 #239516 by SertanATL
Hi Andy!

After our discussion about this 5 axis machine, I bought a PC and installed LinuxCNC 2.9.0-pre0. Everything is running fine.

I also bought a Mesa 7i76E card, arriving soon.

I already own 3 different 3 axis router that run Mach3, so I will be able to test my config on one of them.

I came this far and now I want to modify existing kins modules to fit my needs. Unfortunately I am not a programmer and I think I need to learn how to chance existing files. I am learning to code in Python on YouTube right now.

What advice would you give me going forward?

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07 Apr 2022 09:11 #239521 by rodw
Watch my 7i76e video


There is also one by the feral engineer you should  find.
Feedback is you should watch both as they have a different focus.

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07 Apr 2022 12:57 #239536 by andypugh

I came this far and now I want to modify existing kins modules to fit my needs. Unfortunately I am not a programmer and I think I need to learn how to chance existing files. I am learning to code in Python on YouTube right now.

I think that Maxkins will actually work for you without major modifications. 

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07 Apr 2022 13:31 #239539 by SertanATL
How do I modify? If there are pdf's available I would like to read.

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07 Apr 2022 13:44 #239542 by andypugh
It might not need any modifications. Though I suspect that the axis home positions will need to be set up carefully to align with the rotation centres.
maxkins does not seem to have any inputs for rotational axis offsets other than "pivot-length" which I believe would be set up in the tool table and linked directly in HAL (as in the demo config)

Have you tried the demo config?

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08 Apr 2022 08:46 #239638 by SertanATL
I am new to Linuxcnc and it is hard for me to understand what you mean.

I opened up Max5kins, looked at it's hal file but I dont really get it.

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08 Apr 2022 13:46 #239666 by andypugh
Having looked a bit more carefully, I am a little confused myself...

In the INI we have:
[MAX]
# distance from the end of the "reference tool" (tool-length - 0) to the
# center of the head tilt axis
B_PIVOT_LENGTH = 0

And in the HAL:
# kins needs this value
setp maxkins.pivot-length [MAX]B_PIVOT_LENGTH

So pivot-length = 0.

So, what actually happens, is that the tool table contains a "W" length entry for each tool, and the max5kins uses that in the calculations.
// B correction
    double zb = (*(haldata->pivot_length) + joints[8]) * cos(d2r(joints[4]));
    double xb = (*(haldata->pivot_length) + joints[8]) * sin(d2r(joints[4]));

But that idea is not supported by an inspection of the max5 demo tooltable.

I feel sure that experimentation with the demo config and virtual machine tool will make it all clearer.

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14 May 2022 13:14 #242950 by fery15sty
i have tried kinematics and vismach simulation like that. But I haven't tried this to be a real machine

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