On 27 December 2011 18:38, Rudy du Preez <r...@asmsa.co.za> wrote: > I want to be able to use offsets of C (and possibly A) while in world mode. > Whereas it works OK in joint coordinates with trivkins, it seems to function > differently in world mode using XYZCkins
What does XYZCkins do that trivkins doesn't? Is it creating a virtual C-axis, or do you have a physical one? I assume by your statement that you see a rotation in your example in trivkins that you are talking about a physical C-axis? I am nowhere near my EMC2 machines until the 3rd, so this is conjecture but: I am fairly sure that coordinate system offsets are stored as an axis set, not a joint set. If you can run a non-trivial mechanism with cartesian offsets then that suggests that all the numbers inside the kins module are un-offset machine coordinates, and that G54 et al are added on post-kins. (and subtracted in the inverse kins). This may have a bearing on your assumptions. -- atp The idea that there is no such thing as objective truth is, quite simply, wrong. ------------------------------------------------------------------------------ Write once. Port to many. Get the SDK and tools to simplify cross-platform app development. Create new or port existing apps to sell to consumers worldwide. Explore the Intel AppUpSM program developer opportunity. appdeveloper.intel.com/join http://p.sf.net/sfu/intel-appdev _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
