Hallo,
I remember that I have read somewhere, that someone was working on the
possibility to Jog Joints from G-Code.
Unfortunately I have not bookmarked that. Does someone know where I can
find the corresponding code?
IMHO we should try to implement that feature.
Many Tool-changers use are configured as an axis, but IMHO that are Joints!
All Kind of robots do not need to work in Cartesian coordinates, as the
often just work in Joints mode as Pick and Place.
What about machines with a driven coolant tube? Also thees movements may
be configured as Joint movement.
I know it might be a lot of work, but what do you think about the idea
of "unlimited Joints" and 9 axis.
XYZABCUVW
NUM_JOINTS=15
So Joints 0 to 8 are used for kinematics and Joints 9 to 15 may be used
as pick and place or tool changer or whatever the user wants
XYZ
NUM_JOINTS=5
Joints 0 to 2 for kinematics and joint 3 to 5 for tool changer movements.
Till now this is only an idea in my mixed up brain
Norbert
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