Yap, gantrykins is more complicated, because it is generalised - it is written to allow many different assignements between joints and axis.
In this case I think the easiest way is taking 5axiskins and in forward/inverse kinematics explicitly assign 2 joints to x axis and 2 joints to z axis or whatever particular config you need. The way to do it - get EMC source through GIT, follow instructions here: http://wiki.linuxcnc.org/emcinfo.pl?Installing_EMC2 then in /home/your_username/emc2-dev/src/emc/kinematics take 5axiskins.c file and modify the inverse kinematics formulas, so that two joints are assigned to pos->tran.x or pos->tran.z You don't even need to change forward kinematics. Then You have to install the modified module with cd [path to /kinematics folder here] sudo comp --install 5axiskins.c There are some packages to be installed for this command to work, unfortunately I do not remember, which are they. /vie 2010/9/3 Andy Pugh <a...@andypugh.fsnet.co.uk>: > On 3 September 2010 13:27, Lars Levin <l...@levindesign.se> wrote: > >> The easiest way seems to be to modify this and just add my x2 to joint 6 >> and z2 to joint8. >> Will this work? > > It ought to. Gantrykins is slightly complicated because it allows you > to map any axis to any joint without recompiling the module. > > Note that you can compile and install a kinematics module using "comp" > which saves doing a full "make" > http://linuxcnc.org/docs/html/hal_comp.html#r1_10 > > -- > atp > > ------------------------------------------------------------------------------ > This SF.net Dev2Dev email is sponsored by: > > Show off your parallel programming skills. > Enter the Intel(R) Threading Challenge 2010. > http://p.sf.net/sfu/intel-thread-sfd > _______________________________________________ > Emc-users mailing list > Emc-users@lists.sourceforge.net > https://lists.sourceforge.net/lists/listinfo/emc-users > ------------------------------------------------------------------------------ This SF.net Dev2Dev email is sponsored by: Show off your parallel programming skills. Enter the Intel(R) Threading Challenge 2010. http://p.sf.net/sfu/intel-thread-sfd _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
