Thinking of true 5-axis machining with hexapod, I found that important
thing here is how EMC2 handles tool length offset.
With XYZAB kinematics I'd prefer to always have AB rotations around
TCP. But it proved that setting Z tool offset does not change the
rotation center (obviously genhexkins is not aware of TLO at all).
The question is how to use TLO data in kinematics file?
I see that in 5axiskins it is done some way, they create hal pin
result = hal_pin_float_new("5axiskins.tooloffset.z", HAL_IN,
&(haldata->tool_length), comp_id);
but I can't completely figure out how it works.
Can existing pin motion.tooloffset.z be used instead?
How can I get its value in kinematics file?
Andrew
http://parallelrobots.blogspot.com/
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