On Tue, 26 Mar 2019 at 08:05, Frank Tkalcevic <[email protected]> wrote: > > Thanks for the suggestion, but I don't think that will work. I need to move > both motors in the same direction to home the hinge part of the wrist. Then > I need to move the same motors in opposing directions to home the rotation of > the wrist. Only after both joints are homed can the motors be considered > homed.
Maybe you can get round this with dummy joints. Make the motor positions the sum of two joints in HAL. Home Joint1 + Dummy2 then Dummy1 + Joint 2. Let the dummy joints hold a home offset but otherwise leave them unconnected to axes. (ie not mentioned in the kinematics) -- atp "A motorcycle is a bicycle with a pandemonium attachment and is designed for the especial use of mechanical geniuses, daredevils and lunatics." — George Fitch, Atlanta Constitution Newspaper, 1916 _______________________________________________ Emc-developers mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-developers
