What an interesting looking machine. We have a demo of a similar type of machine, called SCARA. In emc 2.2.2, you can run the sample configuration scara/scara.ini and see a visualization of this machine on your desktop. Screenshot here: http://axis.unpy.net/01170693566
In emc, the process of converting from the XYZ coordinate system to the motor positions of a particular machine (and back again) is called kinematics. You can view the source code for the scara kinematics online, to get an idea of the complexity: http://cvs.linuxcnc.org/cvs/emc2/src/emc/kinematics/scarakins.c?rev=1.5 There is also documentation on writing a new kinematics type: http://linuxcnc.org/docs/2.2/html/motion_kinematics.html It is possible to build new kinematics types as a part of emc, or add them to an existing emc installation -- install emc2-dev and build-essential, then use "comp --install yourkins.c" to compile and install a new kinematics module. The kinematics module is typically specified at the very top of the first .hal file used for machine configuration. emc has some shortcomings for "nontrivial" machines. * How to specify and enforce joint limits for acceleration and velocity (at present, only cartesian limits are enforced) * How to specify the working volume of the machine however, there are a number of people interested in improving these items, so it's possible that we'll find solutions during the current development cycle. Jeff ------------------------------------------------------------------------- SF.Net email is sponsored by: The Future of Linux Business White Paper from Novell. From the desktop to the data center, Linux is going mainstream. Let it simplify your IT future. http://altfarm.mediaplex.com/ad/ck/8857-50307-18918-4 _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users