2011/12/27 Rudy du Preez <r...@asmsa.co.za>: > > I want to be able to use offsets of C (and possibly A) while in world mode. > Whereas it works OK in joint coordinates with trivkins, it seems to function > differently in world mode using XYZCkins. My example code in the previous > mail explained all that.
Then I do not understand, what exactly is the problem. You wrote that You have a 5 axis machine. You have not explained, how the kinematics of the machine are designed - are rotary joints tilting the tool or table etc. You mentioned that everything is fine with trivkins, I explicitly asked about it in my last email, but You did not answer. Just like Andy, I do not understand, why exactly You do not want to stay with trivkins. Where exactly is the problem? BTW trivkins is using "kinematics_identity" which renders Your statement that "it works OK in joint coordinates with trivkins" to be false as there is no joint mode in trivkins: http://git.linuxcnc.org/gitweb?p=emc2.git;a=blob;f=src/emc/kinematics/trivkins.c 67 KINEMATICS_TYPE kinematicsType() 68 { 69 return KINEMATICS_IDENTITY; 70 } I am afraid that none of EMC users can give You detailed answer, if You do not share Your details. Starting with Your machine (preferably in pictures). Viesturs ------------------------------------------------------------------------------ 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
