On 2/25/2017 3:46 PM, Charles Steinkuehler wrote: > > Further investigation shows that the A and B coordinates are being > applied to something relative to the end of the robot arm. Regardless > of the XYZ position of the arm, A and B moves always do the same thing > relative to the robot arm. I would have thought the A and B > coordinates would be relative to the work-piece, just like XYZ, or is > that not how it works? > > Anyway, either I'm confused about 5-axis machining, there's something > odd with genserkins, or both. Any suggestions on where to look for > enlightenment (other than the genserkins code which I'm already > reviewing) would be appreciated! > > Is anyone else doing 5-axis machining with genserkins?
I have further tested this behavior using both my physical robot configuration and the Puma-560 sim configuration. Both behave the same way, with the A and B axis values/positions unaffected by the overall rotation of the robot arm (Joint-0, at the base of the arm). This seems like a pretty basic issue, so I suspect either my understanding of how the A and B axis should work is incorrect or there aren't very many people using genserkins with 5-axis movements. To reproduce: * Launch the Puma-560 config (sim -> axis -> vismach -> puma -> puma560) which uses genserkins * Deassert ESTOP and power-on * Home all * Move to a handy AB axis setting, I used: G0 A180 B45 * Note XYZAB positions * Go back to joint coordinates ($) * Move joint-0 a substantial amount (I moved it to ~ 45 deg) * Return to world coordinates ($) * Note that XYZ positions have changed, but A and B positions remain at A=180, B=45 I also tested with the Puma sim config (which uses pumakins instead of genserkins) and it behaves the same way: The A and B Axis has no dependency on the rotation of the base of the robot arm (joint-0). Is this the expected behavior? -- Charles Steinkuehler [email protected]
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