I have found a way to do rotational shifts of the C-axis using XYZACkins. I use the B-axis for that and just program G0 Bxx at the start of each blade of the impeller, where xx is the absolute position of each blade; ie 0, 90, 180, 270 for 4 blades.
The B position is available and free to use in the kinematics program. I use it and subtract it from the given C value coming from EMC in the inversekins and use the joint[4] value and add to the joint[5] value in the forwardkins. It may not be the most elegant way, but it works and I now only have to supply Gcode for one blade in a subroutine. I would not be able to have EMC do it beforehand with a G54 to G59 command, since I need the unshifted C-value from EMC as well as the shift value (in my case now B). The machine is now a 6-axis machine XYZABC with the B axis just used for rotational shifts of C! I suppose there are also other ways to do it such as using G43.1 instead of a B-axis. Thanks everybody for the discussions and help on this. It always amazes me how flexible EMC2 is. Marvelous! 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
