Re: [Emc-users] problem with genserkins

[Francesca S. <fan...@ya...>]

Andy pugh wrote:


>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 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?


>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)

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?