On 01.01.2015 03:16, poormansairforce H wrote: > Hi all > I have been trying to join the forum but can't get past the registration > page, says there are errors:( > I have a question about setting up a bipod hot wire cutter. Simply, in CAD > I have figured out that on my dream machine setup, at a 4' 6" cutting > length when the wire is angled 22.5 degrees on the vertical axis the wire > moves 3mm from its intended position due to the attach points swinging in > to compensate for the shortening of its length. Its obviously less then > this with lesser angles but still significant when cutting wing cores, etc. > On the horizontal plane it happens in 2 directions. Does LinuxCNC have skew > compensation built in to account for this or can it be fixed with a config > file/HAL correction??? I hope this makes sense....Thanks for any > knowledge/answers.... > Dan
Hi Dan, happy new year, first of all ;) I have to admit that I don't quite understand what you are talking about, but it sounds like a transform problem of cartesian coordinates (XYZABCUVW in G-Code) to joint space (motor movements). In LinuxCNC, this is done by means of kinematics modules. The most basic one is trivkins, suitable for most cartesian machines (like a small XYZ mill). It simply maps each axis word (X, Y, etc.) 1:1 to the position command of the respective joint. Then there are only slightly more complicated modules, e.g. for gantry machines. And then there are the really complex beasts for serial or parallel kinematics robots. A few pre-built kinematics modules can be listed with $ man kins Maybe you can parameterize and then use the tripodkins? Otherwise it is not too hard to invent your own kinematics, as long as you can mathematically describe the forward and inverse transform and have some knowledge of C programming ;) An introduction about how to do it can be found in the docs: http://linuxcnc.org/docs/html/motion/kinematics.html And then there is the code in the source tree, which surely can serve as a template/starting point. Good luck! Regards, Philipp
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