Hello, I am in the initial stages of configuring a machinekit instance to run a stepper-controlled machine for a uni project. The machine is a linear rail with an arm-style robot mounted on it. Although the arm does have a shoulder rotation, for the initial setup we are going to ignore that axis to simplify the kinematics. Thus the machine will have one linear joint (L1) that corresponds to the Y-direction, with two radial joints (J2 and J3) that combine to provide movement in the X and Z direction. Since this is a 3-axis machine with 3 joints it has determinate kinematics so should be simpler than including J1, having an indeterminate kinematics solution and having to use Gradient Decent Optimization to solve for the various joint poses (that comes later after we get the first version working...). The controller is a Raspberry Pi3+ with a 7" screen, running the precompiled preempt-RT kernel 2018-10-09-realtimepi-stretch-lite-0.4.0.img and using the repository at deb.machinekit.io to download the machinekit files. This is my first attempt at configuring a machinekit or linuxcnc so I am taking it in small steps. Starting with the *kins file as good enough a place to start as anywhere, I looked through the sample kins files in the machinekit installation and found the trivkins and the genserkins templates that look like they will suit for the starting point. Then while reading the genserkins.h file it talks about the possibility of the joints being used as a prismatic joint, but the feature currently being hard coded out. Google searching for "genserkins with linear joints" brings up some discussions from 6 and 8 years ago talking about how it was not working for them. Should I assume that the linear axis are still problematic in implementation in machinekit, and try sticking together one axis from trivkins and one from genserkins? Lastly, although I have read many pages on the machinekit and linuxcnc websites that give information about what each part of the system does, is there a guide anywhere showing a complete configuration of a machine from the point where machinekit is first started to the point where the hal and associated components are configured to run a new machine? I realize that this would be a long guide, but I hope it would make clearer to me how everything hangs together, and what exactly needs to be configured.
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