2011/7/17 Andrew <[email protected]>: > 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 this tool length offset should be added/subtracted to tran->pos.z, as well as tran->pos.x and tran->pos.y should be adjusted for sin() of pos->a and pos->b multiplied with the tool offset. And also adjust tran->pos.z for cos() of pos->a and pos->b multiplied with tool offset. I have something similar in my robokins, let me know, if You need more detailed explanation! > > Yes. But such things better be handled by postprocessor with EMC2 tool > radius compensation off. > Probably yes - postprocessor might do it better, but I think of these 2 reasons to do it in EMC2: 1) the code is readable and understandable by operator and can be adjusted by hand. If the compensation for tool size is included in X, Y, Z etc words, then it is not possible to completely read and understand the code and to adjust it; 2) the whole point of kinematics modules is that You feed in just the "target" coordinate values, EMC2 will do all the job to calculate required joint positions to do it. But the main reason to do it in postprocessor might be the fact, that implementation of this in EMC2 is yet to be done... 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
