On 23 April 2012 17:52, Viesturs Lācis <viesturs.la...@gmail.com> wrote:
> 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. There almost certainly are, but changing that is probably one task for JA3. > 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 The problem is not in LinuxCNC but in G-code. All commands are a single letter, and there are none left to be extra axis commands. With a different interpreter it might be possible to find a way to command more axes. If you only want to control more joints, then you could, in theory, control them with M67/M68 commands. num_aio defaults to 4 with a max of 16, but that can be changed in the source. I think that an M68 will hit the setpoint at the end of the next motion command (ie, synched to motion) but would need to test it to be sure. Combined with Limit3 and lots of stepgens/PIDs that would allow control of a large number of actuators. -- atp The idea that there is no such thing as objective truth is, quite simply, wrong. ------------------------------------------------------------------------------ For Developers, A Lot Can Happen In A Second. Boundary is the first to Know...and Tell You. Monitor Your Applications in Ultra-Fine Resolution. Try it FREE! http://p.sf.net/sfu/Boundary-d2dvs2 _______________________________________________ Emc-developers mailing list Emc-developers@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-developers
