On Thu, Dec 26, 2013 at 09:17:18AM -0600, Charles Steinkuehler wrote: > simple "move the joint until the switch closes". IMHO there needs to be > a way to write programmable homing routines that can perform coordinated > motion in joint and/or world space, But one thing at a time...
I don't see how you can possibly move in world space before homing. I do see how you could move all joints simultaneously, for instance, which might be what you mean? This is a form of "coordinated" motion but it is not how we usually use the term "coordinated", which means in world mode and in lines and arcs, etc. > PROPOSAL: > It seems to me that the limit check functions should be plug-able, like > the kinematics module. The limits could then be as simple or complex as > required by any particular machine. Have you tried just having your inverse kins return a failure in the situations you've identified as bad? in JA4 this is dealt with nicely I think. Endpoints are checked before a move is started. Not sure about how world mode jogs handle it. ------------------------------------------------------------------------------ Rapidly troubleshoot problems before they affect your business. Most IT organizations don't have a clear picture of how application performance affects their revenue. With AppDynamics, you get 100% visibility into your Java,.NET, & PHP application. Start your 15-day FREE TRIAL of AppDynamics Pro! http://pubads.g.doubleclick.net/gampad/clk?id=84349831&iu=/4140/ostg.clktrk _______________________________________________ Emc-developers mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-developers
