how many axes simultaneously Viesturs?
j.
On Mon, Apr 23, 2012 at 6:52 PM, Viesturs Lācis <viesturs.la...@gmail.com>wrote:
> 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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