I am very new to this, so please pardon the dumb questions. Do I add these if/else commands in both the forward and inverse kinematics sections of the new kins.c? Is there any problems with having the tran.pos->z tied to both the joint[2] in one line and joint[8] in the else line (or do both of these need to be done in one line somehow?)
When you say the positions should match, is matching just in local coordinates (including offsets) good enough or does it have to be machine coordinates that match (the latter really wouldn't be much use). If the local coordinates and tool offsets applied to W aren't maintained through the swap to ZZ mode, this won't do me a whole lot of good. Just curious what does the "tran" in tran.pos-> mean anyway? ----- Original Message ----- 2012/8/27 Todd Zuercher <zuerc...@embarqmail.com>: > How hard would it be to make a custom M or G code that once issued all Z > commands will be exicuted as Z and W commands, until that code is deactivated > by another code that returns normal operation. It is easy to do with customized kinematics module and M63/M63 commands. Basically You need to add input pin from HAL in trivkins module, control that pin with M62/M63 commands and in kinematics file set, that, if the pin is true, joint[4] = tran.pos->z else joint[4] = pos->w (number 4 for the joint is just for example purposes). Be aware that I strongly recommend do the swapping, when Z and W positions match, otherwise it requires additional tricks to handle the difference and not to cause following errors on the swapped joint. But I do not think that it is a problem to take them to such a position, then swap and move on... Let me know, if You need some help with the kinematics module. -- Viesturs -- ======================================== Todd Zuercher mailto:zuerc...@embarqmail.com ======================================== ------------------------------------------------------------------------------ Live Security Virtual Conference Exclusive live event will cover all the ways today's security and threat landscape has changed and how IT managers can respond. Discussions will include endpoint security, mobile security and the latest in malware threats. http://www.accelacomm.com/jaw/sfrnl04242012/114/50122263/ _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
