2011/7/17 Andrew <[email protected]>: > > Can existing pin motion.tooloffset.z be used instead? > How can I get its value in kinematics file?
Of course, You can! Create a HAL pin in Your kinematics module and arrange all the inverse/forward kins calculation. And then in HAL file instead of setting a certain value for that pin You should just link it with motion.tooloffset.z I have been using the first option - creating HAL pins and then set certain values in HAL file in kinematics module for welding robot, waterjet machine and some other test modules as well. Creating a HAL pin requires adding less than 10 lines (I think that 5 or 6 is enough) to the kinematics module. Take a look at pumakins for how it is done. Let me know, if You cannot manage that - I will try to find and share one of my implementations. I think that tool radius compensation also is related to this question - if tool is tilted, then length of projection of tool's radius on the surface of material also changes (except for tools with round tooltip). Probably You might want to take into account also this aspect. Viesturs ------------------------------------------------------------------------------ AppSumo Presents a FREE Video for the SourceForge Community by Eric Ries, the creator of the Lean Startup Methodology on "Lean Startup Secrets Revealed." This video shows you how to validate your ideas, optimize your ideas and identify your business strategy. http://p.sf.net/sfu/appsumosfdev2dev _______________________________________________ Emc-users mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-users
