2011/7/17 Viesturs Lācis <[email protected]>: > 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.
Thank you, Viesturs! I managed to create a pin and link it to motion.tooloffset.z. For the beginning I just added TLO to platform joint coordinates, but it's not that simple. I have to think more about correct offset implementation... it should only influence the rotation point. I'm afraid it should be similar to 5axiskins with extra W axis. I do not like this way at all. > 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. Yes. But such things better be handled by postprocessor with EMC2 tool radius compensation off. Andrew http://parallelrobots.blogspot.com/ ------------------------------------------------------------------------------ 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
