Not 100% sure I understand the questions here.
My observation:
I'm currently in the process of programming a Fanuc 6 axis robot using
Fanuc software.
A. I can move the robot in Joint mode. In this mode I am commanding raw
joint positions.
B. I can move the robot in World mode. In this mode the TCP (Tool Center
Point; tip of robot) moves relative to robot's foundation.
C. I can move the robot in Tool mode. In this mode TCP moves in relation
to its own position. IE, if TCP is rotated on any or all axis, an X100
move will move TCP 100mm in TCP's X+ direction parallel to itself
according to current orientation of TCP, unrelated to orientation of
robot's foundation.
On 2/1/26 4:32 PM, Nicklas SB Karlsson wrote:
If I got it correct looking at non trivial kinematics like robot as this feels
like a better example. Joint is one
degree of freedom. Axis is ordinary cartesian (x, y, z) coordinate system for
three degree of freedom.
Rotate a joint on a robot in may for example rotate. Move in cartesian
coordinate system for example in x direction
joints have to move coordinated so that tip of robot is moved on straight line.
Nicklas Karlsson
sön 2026-02-01 klockan 17:49 +0100 skrev Bertho Stultiens:
Hi all,
Digging into the linuxcncrsh code uncovered quite a few interesting
things (apart from the off-by-one errors and other problems). A thing I
cannot understand is the letters used for the axes.
[BTW, I know, there is a difference between a joint and an axis. I am
specifically referring to an axis here]
linuxcncrsh parses axes with the following name/IDs:
X = 0
Y = 1
Z = 2
A = 3
B = 4
C = 5
Then is also recognizes:
R = 3
P = 4
W = 5
However, I was under the impression that G-code and LCNC used a 9-axis
system XYZ, ABC and UVW. So, you cannot use linuxcncrsh on a 9-axis
machine and the letters are a bit off from what you'd expect.
How should this be fixed?
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Thank You!
Titus Newswanger
Curtiss WI
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