Hi,
I've been following the thread, I think that was the piece that I was
missing in my kinematics.
Thank you.
In the past I had problems (BANGS) with non-matching initial
conditions for Cartesian an joint coordinates, those problems got
solved for me when I settled up my kinematics, so that
On 18 July 2011 13:14, Javier Ros j...@unavarra.es wrote:
Shouldn't
haldata = hal_malloc(sizeof(struct haldata));
have a corresponding free in
rtapi_app_exit
There is no hal_free, hal_mallocc-ed memory is automatically freed
when all hal modules unload.
On Jul 17, 2011 11:26 PM, Andrew parallel.kinemat...@gmail.com wrote:
2011/7/18 Viesturs Lācis viesturs.la...@gmail.com:
I think that this tool length offset should be added/subtracted to
tran-pos.z, as well as tran-pos.x and tran-pos.y should be adjusted
for sin() of pos-a and pos-b
Thinking of true 5-axis machining with hexapod, I found that important
thing here is how EMC2 handles tool length offset.
With XYZAB kinematics I'd prefer to always have AB rotations around
TCP. But it proved that setting Z tool offset does not change the
rotation center (obviously genhexkins is
2011/7/17 Andrew parallel.kinemat...@gmail.com:
Can existing pin motion.tooloffset.z be used instead?
How can I get its value in kinematics file?
Of course, You can!
Create a HAL pin in Your kinematics module and arrange all the
inverse/forward kins calculation.
And then in HAL file instead
2011/7/17 Viesturs Lācis viesturs.la...@gmail.com:
Create a HAL pin in Your kinematics module and arrange all the
inverse/forward kins calculation.
And then in HAL file instead of setting a certain value for that pin
You should just link it with motion.tooloffset.z
I have been using the
