Hello, As you may remember I run hexapod with EMC2. I used to use tkemc UI, but recently tried switching to AXIS.
1. AXIS manual mode is joint-only, I can not switch to world coordinates and touch off by manual jogging. I have to touch off in MDI window: G0 step-by-step and then G92. Is there any way to add manual world mode to AXIS? 2. Every time I run a program AXIS asks "joints limits exceeded". At ini file I have MIN_LIMIT = 500.0 and MAX_LIMIT = 1360.0, so it is always exceeded. How can I turn it off? Would be so nice to have both joint and world limits at EMC2! Generally, that's the only thing EMC2 missing to _completely_ control non-trivial kinematics! Of course, I consider creating hal pin at genhexkins which e-stops when world limits exceeded. But it is just a workaround, not real solution. 3. The tool cone at AXIS preview plot tilts when angular axes change. It is set for XYZBC, but I need XYZAB. Which file should I edit to change this? Also, I spent some time editing genhexkins to adjust it for non-captive shaft actuators. It had a lot of unused functions (probably for debug purpose) which I removed. There's kinematicsHome function and first I removed it with others, then restored. But, all worked with or without it =) So, when is kinematicsHome used? Now to set joint's HOME values at ini file I start EMC2, move the tool to desired home world position, then switch to joint mode and copy joint's values to ini. I guess kinematicsHome could make it more convenient? Thanks, Andrew http://parallelrobots.blogspot.com/ ------------------------------------------------------------------------------ WhatsUp Gold - Download Free Network Management Software The most intuitive, comprehensive, and cost-effective network management toolset available today. Delivers lowest initial acquisition cost and overall TCO of any competing solution. http://p.sf.net/sfu/whatsupgold-sd _______________________________________________ Emc-users mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-users
