Gentlemen, I have just finished and tested (in NCL) the kinematics for the cinci. I am putting this in a kinematics file now. I have extensively (hopefully complete) tested it in NCL for the cinci envelope. In the cinci motion envelope I have all the divide by zeros out of the code. I had previously tested it for much of the envelope but had not tried the position of all zeros (duh - A0 B0). This time I have tested A0 B0 and zeros in all error variables. :) I think I have a much clearer understanding of the use of forward and inverse kinematics. I want to have the machine use the axis mode in auto, mdi AND manual. I will seldom want or need the joint mode, probably only for initial machine commissioning and configuration. I want this for full 5 axis movement. I want all nine axes to be usable in this fashion. What kind of work would this be? Reminds me of a line in the movie 'HOOK' - I want, I want, I want, me, me, me, mine, mine, mine, now, now,now :) thanks Stuart
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