G code how to walk joints ？？

Hello!
I'm a novice, and I've just come into contact with linuxcnc and G code.
I have a problem with G code. I have a 6-axis mechanical arm, and everything is normal.

In MDI mode, I send the following commands to control them, which is very smooth. For example:
c.mdi("G0 X10 Y20 Z15 A5 B3.6 C8.1")

But now I want to use joint mode to control their movement. Is there any joint movement command in G code? For example:
c.mdi("G0 J0.. J1.. J2.. J3.. J4.. J5..")

Can g code meet my requirements? Move in joint position instead of "xyzabc"
Thank you, please be as detailed as possible

Can g code meet my requirements? Move in joint position instead of "xyzabc"

If you are using version 2.9 then the answer is yes. The feature is called "switchable kinematics":
linuxcnc.org/docs/devel/html/motion/switchkins.html

This allows you to switch between world- and joint-mode by calling a custom M-Code.

There is a simulation config in version 2.9 with a 6 axis industrial manipulator that should help you: /configs/sim/axis/vismach/melfa-sim

If you want to look at that before you install 2.9:
github.com/LinuxCNC/linuxcnc/tree/master...is/vismach/melfa-sim

I have that same robot here in my shop and it works perfectly. Make sure to read the various comments in the above simulation config.

Hello, Aciera
Thank you very much for answering me in your busy schedule.

I just found that my Linux is version 2.8.2, not 2.9
Does this affect my use of "switchable kinematics"?

I downloaded the file you gave me, put it on the desktop, open it with the terminal, and found an error. Is this caused by version 2.8.2? I put the picture below

Thank you for your answer!

Is there only "switchkins" method?
Are there any other methods that have similar effects?
If I want to upgrade to linuxcnc 2.9, what should I do?
Because the official website has only 2.7 and 2.8.

Thank you!

I downloaded the file you gave me, put it on the desktop, open it with the terminal, and found an error. Is this caused by version 2.8.2?

What I meant is that you might want to browse the linked simulation config folder to read the various comments. For example how to switch from world to joint mode in G-Code in the "example.ngc" or the M-code remaps (M428, M429) in the folder "remap_subs".
To actually run the sim config you will need to install version 2.9 (see below) and then you will find the linked config in the config selector to run it.

Are there any other methods that have similar effects?

Not that I know of.

If I want to upgrade to linuxcnc 2.9, what should I do? 

You can install the current development version 2.9 as a deb install:
buildbot.linuxcnc.org/

Or you can get the sourcecode from the github site and build locally on your machine. This can become a somewhat involved process as you might need to manually install packages that linuxcnc depends on (called a RIP install).

 

OK, thank you, my friend.
Now I'll browse the update link you gave, because it's not easy for me.

Is there any essential difference between the 2.8 system and the 2.9 system?
I plan to update the system to 2.9 and copy the whole project I can now run intact to 2.9. This is feasible, isn't it?
Then I will study the "switchkins" method

Hi ,Aciera
I updated 2.9 according to your method,
But I reported an error when running my old project
This mistake annoys me
Please help me have a look if you are free. Thank you

forum.linuxcnc.org/38-general-linuxcnc-q...module-named-vismach