2011/12/9 Chris Radek <[email protected]> > On Fri, Dec 09, 2011 at 02:33:25PM -0500, Tom Easterday wrote: > > > > Changing from Joint Mode to World Mode in Axis causes a > > multi-jointed axis to move > > > I've seen this when kinematics are incorrect. I assume you have > KINEMATICS_BOTH. Is that right? Have you verified that forward and > inverse match for all inputs?
Yes I have KINEMATICS_BOTH. A few times (of course, at least once it happened at the most crucial moment!) the machine twitched suddenly and joint following error appeared. That could be what Tom describes. By the way I just wanted to ask about how KINEMATICS_TYPE function works. The question appeared because I observe a strange behavior of home position for my hexapod. When I had [TRAJ] HOME 0 0 0 0 0 0 it was all ok, but recently I had to change it, say to 0 0 150 0 30. Of course I set corresponding joint values for all [AXIS] HOME and HOME_OFFSET. Now I start the machine, home all axes manually (by pressing Home button, there's no home switches yet) and go to world mode. And I immediately get "joint following error", because I have 0 0 0 0 0 0 position! After aligning all joints it works fine, until the next start. I suspect that [TRAJ] HOME just won't work for some reason, why could that happen? What is joint vs. world home position logic: [TRAJ] HOME or [AXIS] HOME is primary, and how it depends on KINEMATICS_TYPE? Andrew ------------------------------------------------------------------------------ Cloud Services Checklist: Pricing and Packaging Optimization This white paper is intended to serve as a reference, checklist and point of discussion for anyone considering optimizing the pricing and packaging model of a cloud services business. Read Now! http://www.accelacomm.com/jaw/sfnl/114/51491232/ _______________________________________________ Emc-users mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-users
