2012/4/23 andy pugh <bodge...@gmail.com>:
> Whilst idly poking about in JA3 I noticed:
>
> struct data {
>  22     hal_s32_t joints[EMCMOT_MAX_JOINTS];
> ...
>  34     for(i=0; i<9; i++) {
>  35         switch(data->joints[i]) {
>
> Which seems like it might cause trouble if EMCMOT_MAX_JOINTS was ever
> to change to be other than 9.
> (and I would have expected a much larger number to be eventually
> possible in JA3)

Is kinematics module the only place, that limits max number of joints?
The thing is that I suspect that there are other places as well that
have hardcoded max number of joints to be less or equal to 9.

LinuxCNC still has only 9 axis words (I have been wishing for more - I
have a client, who might be interested in LinuxCNC, if it was capable
of handling production lines with up to 40 independently moved joints
(I have seen and climbed one of their beasts with 36 joints), but that
is whole different story), so 9 axes/more than 9 joints are not
trivial kinematics, which means that gentrivkins probably is not the
place to change that.
I do not see a problem for integrator of LinuxCNC on such a special
machine tool to get source code, change that number and rebuild
kinematics module, if that is the only place that limits it.

Viesturs

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