On 5 June 2010 09:53, Viesturs Lācis <[email protected]> wrote:
> 3) How do I create custom kinematics module? I have looked in the > manuals, Integrators manual explains, how to do forward and reverse > kinematics - I suppose that I understand that. What I do not > understand is - where the hell do I put those lines in? You would create a new file viesturskins.c (and possibly a .h) and put it in the src/emc/kinematics/ directory, then recompile. The module would then be available to load in HAL. You might need to add it to a makefile or header file somewhere. Hopefully someone with a bit more knowledge of the build process can advise here. > It seems to me that I will be able to get G-code only for a XYZBC > machine, I will have XYZAB machine, I think that with your proposed kinematics module you will end up with an XYZ machine that controls 6 motors. The positions of the "B" and "C" joint motors will come from the kinematics not the G-code. (Unless you want to do sloped cuts as well as kerf-compensation, in which case you will have an XYZAB machine assuming that the head is a double-tilt rather than tilt-and-rotate. Or it could be an XYZA machine if you only want to specify an angle of tilt perpendicular to the "tool" movement and then the kinematics can map the required angle to various positions of the two cutting head motors. > I think that I will need to use ClassicLadder to create the logics > that "Water jet ON" and "Abrasive ON" cannot be turned on and off with > M3, M5, M8 and M9 commands respectively unless those enabling buttons > are pressed for each of them. You could do it all in HAL if you preferred. There are a lot of logic functions and latches in HAL. I think what you describe could be done by adding a set of and2 functions to the HAL file, and wiring the abrasive-on and abrasive-interlock buttons to the inputs, and the parallel port pin to the output. The complete list of HAL functions starts about half way down http://www.linuxcnc.org/docview/html/ -- atp ------------------------------------------------------------------------------ ThinkGeek and WIRED's GeekDad team up for the Ultimate GeekDad Father's Day Giveaway. ONE MASSIVE PRIZE to the lucky parental unit. See the prize list and enter to win: http://p.sf.net/sfu/thinkgeek-promo _______________________________________________ Emc-users mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-users
