(Sorry for the top posting - I don't know how to tell my phone to do it right :) )
The change Chris made basically compensated joint 2 for the rotation of joint 1. This was necessary because the lower arm doesn't rotate when the upper arm does, which is what genserkins expects. Regardless of whether that change is there, you should still get motion on both arms. The updates to genserkins.[ch] allow you to "unrotate" a joint (relative to the previous joint) by setting a new HAL parameter (unrotate) to +-1 (other values are also possible, but are far less likely to be useful). As for a solution - have you used halscope to be sure that there are no commands being output from motion? They may be getting lost somewhere in HAL, not going to the right output, etc. - Steve Stuart Stevenson <stus...@gmail.com> wrote: >Gentlemen, > I have the drives all working. I cannot get joint_2 to move. The control >will not send any commands to the axis drive. I have looked for >changes/errors. I did not change anything regarding joint_2 while working >with the non-functioning drives. I have swapped drives between joint_1 and >joint_2 with the result of joint_1 functioning and joint_2 non-functioning >before and after the swaps. > I did a 'git pull' and saw the update did not get the genserkins.c. I then >realized I lost the joint_2 functionality after a prior git pull. > I think the problem may involve the generskins modification that was made >during the initial configuration. > What was the reason for the change? Was it because the carried arm >(forearm) does not change orientation to the base during motion of the >carrying arm (upper arm). > I will be comparing genserkins.c files to try to figure this out. A gentle >nudge in the direction of a solution will be greatly appreciated. :) >thanks >Stuart > >-- >dos centavos >------------------------------------------------------------------------------ >Learn how Oracle Real Application Clusters (RAC) One Node allows customers >to consolidate database storage, standardize their database environment, and, >should the need arise, upgrade to a full multi-node Oracle RAC database >without downtime or disruption >http://p.sf.net/sfu/oracle-sfdevnl >_______________________________________________ >Emc-users mailing list >Emc-users@lists.sourceforge.net >https://lists.sourceforge.net/lists/listinfo/emc-users ------------------------------------------------------------------------------ Learn how Oracle Real Application Clusters (RAC) One Node allows customers to consolidate database storage, standardize their database environment, and, should the need arise, upgrade to a full multi-node Oracle RAC database without downtime or disruption http://p.sf.net/sfu/oracle-sfdevnl _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
