Re: [Emc-users] problem with genserkins

[andy p. <bod...@gm...>]

On 17 November 2011 09:59, Francesca Sca <fan...@ya...> wrote:

>>Yes, that is correct. Genserkins does calcs for 6 joints. If the
>>actual robot has fewer, then dummy joints need to be defined to make
>>up 6 joints for genserkins.

> How I can make an axis dummy? for example the C one?

This is one of those situations where it is important to be very clear
about the distinction between "Joints" and "Axes".

genserkins assumes 6 joints (ie 6 motors) and also 6 axes (XYZABC).

Whilst you could change the INI file to accept U, V or W axis words in
the G-code (The COORDINATES= line) genserkins does not pass through
this value to an axis.N.motor-pos-cmd pin. This might be seen as
something of an oversight, or there might be an excellent reason...

I think that the easiest solution might be to use M67 to send position
commands out of the G-code to a HAL pin, and link that direct to a
stepgen in HAL. I think that, in most cases, you can use the stepgen
accell and velocity limits to control the motion. Homing might have to
be a rather crude stall-the-motor-on-the-end-stops.

Alternatively, it is probably possible to modify genserkins to
pass-through UV and W in the same way as trivkins does. (line 357
onwards for forward kins, I can't immediately see where to do it for
inverse kins)

-- 
atp
The idea that there is no such thing as objective truth is, quite simply, wrong.