On Jul 17, 2011 11:26 PM, "Andrew" wrote:
>
> 2011/7/18 Viesturs Lācis :
> > I think that this tool length offset should be added/subtracted to
> > tran->pos.z, as well as tran->pos.x and tran->pos.y should be adjusted
> > for sin() of pos->a and pos->b multiplied with the tool offset. And
> > als
On 18 July 2011 13:14, Javier Ros wrote:
> Shouldn't
> haldata = hal_malloc(sizeof(struct haldata));
> have a corresponding free in
>
> rtapi_app_exit
There is no hal_free, hal_mallocc-ed memory is automatically freed
when all hal modules unload.
http://www.linuxcnc.org/docview/html/man/man3/ha
Hi,
I've been following the thread, I think that was the piece that I was
missing in my kinematics.
Thank you.
In the past I had problems (BANGS) with non-matching initial
conditions for Cartesian an joint coordinates, those problems got
solved for me when I settled up my kinematics, so that whe
2011/7/18 Viesturs Lācis :
> I think that this tool length offset should be added/subtracted to
> tran->pos.z, as well as tran->pos.x and tran->pos.y should be adjusted
> for sin() of pos->a and pos->b multiplied with the tool offset. And
> also adjust tran->pos.z for cos() of pos->a and pos->b mul
2011/7/17 Andrew :
> I have to think more about correct offset
> implementation... it should only influence the rotation point. I'm
> afraid it should be similar to 5axiskins with extra W axis. I do not
> like this way at all.
>
I think that this tool length offset should be added/subtracted to
tr
2011/7/17 Viesturs Lācis :
> Create a HAL pin in Your kinematics module and arrange all the
> inverse/forward kins calculation.
>
> And then in HAL file instead of setting a certain value for that pin
> You should just link it with motion.tooloffset.z
> I have been using the first option - creating
2011/7/17 Andrew :
>
> Can existing pin motion.tooloffset.z be used instead?
> How can I get its value in kinematics file?
Of course, You can!
Create a HAL pin in Your kinematics module and arrange all the
inverse/forward kins calculation.
And then in HAL file instead of setting a certain value
Thinking of true 5-axis machining with hexapod, I found that important
thing here is how EMC2 handles tool length offset.
With XYZAB kinematics I'd prefer to always have AB rotations around
TCP. But it proved that setting Z tool offset does not change the
rotation center (obviously genhexkins is no
