On 17 November 2011 09:59, Francesca Sca <fancy_...@yahoo.it> wrote: >>Yes, that is correct. Genserkins does calcs for 6 joints. If the >>actual robot has fewer, then dummy joints need to be defined to make >>up 6 joints for genserkins.
> How I can make an axis dummy? for example the C one? This is one of those situations where it is important to be very clear about the distinction between "Joints" and "Axes". genserkins assumes 6 joints (ie 6 motors) and also 6 axes (XYZABC). Whilst you could change the INI file to accept U, V or W axis words in the G-code (The COORDINATES= line) genserkins does not pass through this value to an axis.N.motor-pos-cmd pin. This might be seen as something of an oversight, or there might be an excellent reason... I think that the easiest solution might be to use M67 to send position commands out of the G-code to a HAL pin, and link that direct to a stepgen in HAL. I think that, in most cases, you can use the stepgen accell and velocity limits to control the motion. Homing might have to be a rather crude stall-the-motor-on-the-end-stops. Alternatively, it is probably possible to modify genserkins to pass-through UV and W in the same way as trivkins does. (line 357 onwards for forward kins, I can't immediately see where to do it for inverse kins) -- atp The idea that there is no such thing as objective truth is, quite simply, wrong. ------------------------------------------------------------------------------ All the data continuously generated in your IT infrastructure contains a definitive record of customers, application performance, security threats, fraudulent activity, and more. Splunk takes this data and makes sense of it. IT sense. And common sense. http://p.sf.net/sfu/splunk-novd2d _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
