Il giorno ven, 06/05/2011 alle 12.36 +0300, Andrew ha scritto: > 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! There's another thing missing there. Maybe you're not going to use this, but jogging into world mode with a joystick, with non-trivial kins gives an error. i could only move one axis per time (i.e. no diagonal on XY). anyway, if you could do the same experiment, would be nice to have confirmation or not.
Ciao, Davide. > 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 ------------------------------------------------------------------------------ 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
