On Mon, 27 Nov 2023 at 17:51, Marius wrote:
> We get a joint following error every time the gcode program comes to an
> end or when we stop the run mode.
This sounds like it happens when you transition from coordinated mode
to free / teleop mode. Which aligns with what Chris is saying.
During
I think this means your forward and reverse kinematics don't match.
If you take a position with BC /= 0, and feed it through the inverse
kins, then feed that result through the forward kins, you should
get the same position you started with. I think you will find that
you don't.
Cheers,
Chris
Hi,
We have a 5 Axis router (XYZBC) running on master and using Gmoccapy as
interface. We have a custom kinematics component that takes care of an
offset on the B/C axis.
We get a joint following error every time the gcode program comes to an
end or when we stop the run mode. This only
