A simple aproach may be to change the kinematics code so that you add Z0 to the value you compute now for Z in the direct ( world coord obtained from joint coord) model, and substract the same Z0 to J1 J2 J3 (joint coordinates) in the inverse (joint coordinates from world coordinates) model.
I can elaborate more if you find difficult to follow me. You can privetely send me the kinematic module so I can be more specific. LCNC can work only with the inverse model so you can deactivate the direct model at least to debug, direct model is used only to display the actual world coordinates (suposing your direct model is correct). Now speaking form memory (years ago): Note that when homing is done joint coordinates will be reset again (to he HOME_OFFSET value specified in init), and then your direct model shoud give meaningfull values (for those HOME_OFFSET values) and within your allowabe region in world coordinates. That is your model (in particular the ones I am speaking about) is dependent on your specification of the homing sequence (HOME_OFFSET value on INI file) and should be coherent with the limits tou put in working region in world coordinates (I think this is specified as well in the INI) Hope this helps, Javier On Wed, Sep 4, 2013 at 5:31 PM, Bob Weiss <bweiss0...@gmail.com> wrote: > On Wed, Sep 4, 2013 at 10:22 AM, <emc-users-requ...@lists.sourceforge.net > >wrote: > > > Re: lineardeltakins and 'World mode' problems (Javier Ros) > > > "Change tour model so it can have an offset for the joint coordinates. Then > give an arbitrary value to your offset so that z gets a value inside the > working limits." > > > Javier: > > Thank you for the information! Can I ask you to explain a little more? What > do you mean by change model so it can offset for the joint coordinates? Can > you give me an example for this? What would I change the INI file settings > or in Axis GUI itself? > > Bob > > ------------------------------------------------------------------------------ > Learn the latest--Visual Studio 2012, SharePoint 2013, SQL 2012, more! > Discover the easy way to master current and previous Microsoft technologies > and advance your career. Get an incredible 1,500+ hours of step-by-step > tutorial videos with LearnDevNow. Subscribe today and save! > http://pubads.g.doubleclick.net/gampad/clk?id=58040911&iu=/4140/ostg.clktrk > _______________________________________________ > Emc-users mailing list > Emc-users@lists.sourceforge.net > https://lists.sourceforge.net/lists/listinfo/emc-users > ------------------------------------------------------------------------------ Learn the latest--Visual Studio 2012, SharePoint 2013, SQL 2012, more! Discover the easy way to master current and previous Microsoft technologies and advance your career. Get an incredible 1,500+ hours of step-by-step tutorial videos with LearnDevNow. Subscribe today and save! http://pubads.g.doubleclick.net/gampad/clk?id=58041391&iu=/4140/ostg.clktrk _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
