My personal opinion:
If You have double joints on all 3 linear axis, it might be easier to
modify a kinematics module, where You explicitly assign particular
joint to particular axis in forward/inverse kinematics calculations.
That is how my gantry setup is working.

Viesturs

2010/9/2 Lars Levin <l...@levindesign.se>:
> Hi Group!
>
> I am trying to set up a 5 axis router with double servos on x,y and z.
> I have a Mesa 3x20 with 3 7i33 servo cards.
>
> I have looked at the example file 5axiskins that uses 9 joints xyzabcuvw,
> but y2 seems to be linked to joint 7,u.
>
> Can I make a variant of this with x1y1z1abcx2y2z2, or is uvw needed for
> calculating the kinematics?
>
> Does this 5axiskins setup use gantrykins, or is y just fed to 2 joints in 
> another way?
>
> Can a version of 5axiskins be used together with gantrykins, or how should
> I proceed to get it right?
>
> Best Regards!
> Lars Levin
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