2011/11/18 Francesca Sca <fancy_...@yahoo.it>: > > I have the version 2.4.6. This could be a problem with that command? However > the command is > > M67 E Q . You can me explain better what are E and Q?
http://www.linuxcnc.org/docview/html/gcode_main.html#sec:M67-Analog-Output > You mean that for example if I want to exclude the axis C from genserkins I > should change this line: > > world->c = rpy.y * 180 / PM_PI to world->u = rpy.y * 180 / PM_PI > ( and so for every line where C appears!) > > In this way genserkins calculates the kinematics using the axis U and not C. > Am I right? With this change Could I control C separatly from kinematics? The formula suggests that it is a rotation angle, which I do not think is what the gripper fingers do. RPY are meant to be roll-pitch-yaw angles, which are very close to Euler angles: http://en.wikipedia.org/wiki/Euler_angles IMHO Substituting C with U will screw it up. If You really want to do it in kinematics rather than HAL, then adding trivial kinematics for U (and also V and W), with these lines, where appropriate (inverse and forward kins), should be easier: world->u = joints[6] joints[6] = world->u Viesturs ------------------------------------------------------------------------------ All the data continuously generated in your IT infrastructure contains a definitive record of customers, application performance, security threats, fraudulent activity, and more. Splunk takes this data and makes sense of it. IT sense. And common sense. http://p.sf.net/sfu/splunk-novd2d _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
