I am confused with G54 to G59. Look at the following code and run it on a simulation setup with Axis C rotation added:
G10 L2 P1 x0 y0 C0 G10 L2 P2 x10 y10 C0 G10 L2 P3 x0 y0 C-45 o100 sub G0 x25 y0 G1 x30 f200 G1 y5 G1 x25 G1 y0 o100 endsub g54 G0 x0 y0 C0 o100 call g55 G0 x0 y0 C0 o100 call g56 G0 x0 y0 C0 o100 call G54 x0 y0 C0 m30 In trivial kinematics it does three squares, the first one in untransformed coordinates, the second one with a shift of origin to x10 y10, and the 3rd one with a rotational shift of -45 degrees. All seems as expected. In world mode of a 4-axis system, with the inverse kinematics: joints[0] = cos(C)*x - sin(C)*y; joints[1] = sin(C)*x + cos(C)*y and forward kinematics: x = cos(C)*joints[0] + sin(C)*joints[1]; y = -sin(C)*joints[0] + cos[C]*joints[1] it does the first and second squares in the same way as with trivialkins, but the 3rd square is placed in the original world coordinate position, even though the C-axis has been turned -45 degrees. My question is: why does the G55 shift work the same but not the G56? Rudy ************** ------------------------------------------------------------------------------ Write once. Port to many. Get the SDK and tools to simplify cross-platform app development. Create new or port existing apps to sell to consumers worldwide. Explore the Intel AppUpSM program developer opportunity. appdeveloper.intel.com/join http://p.sf.net/sfu/intel-appdev _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
