"kins" help
All the kins seem to be written with tran.x tran.y tran.z, but the rest of the joints are just the axis name. for instance:
pos->tran.z = joints[2]; for x,y and z. But
pos->a = joints[3]; for a,b,c,u,v,w.
So what does the "tran" do?
Next question, it seems like I could write a variation of trivikins that would slave V to Y and W to Z, but only when a pin is set. When said pin is not set, independent control over all joints would be in effect. Currently we move the machine to a preset position then link/unlink the joints to slave them. but this is a bit cumbersome.
And please, gantrykins is not the answer for us as sometimes the machine is a gantry mill, and sometimes it is a hotwire. It is both within the same part, hence the need to switch back and forth.
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So what does the "tran" do?[\quote]
tran is (I think) a PM_CARTESIAN from git.linuxcnc.org/gitweb?p=linuxcnc.git;a...fs/heads/v2.5_branch
I think that there are sections of the code that find it more convenient to be passed a "pose" rather than individual axis positions.
I am not entirely sure why uvw are excluded, but the fact that they are might explain why there are no arcs in the UVW planes.
Yes, that is probably possible. The hard part is "bumpless transfer" between modes. Not too hard, but you will need to move all joints to a fixed position before switching modes, or you will get a following error. (The safe tool change position seems like a logical choice).Next question, it seems like I could write a variation of trivikins that would slave V to Y and W to Z, but only when a pin is set.
Do you need to switch on-the-fly within one G-code program? I have a machine that is a mill or a lathe depending on which config file I start it from.And please, gantrykins is not the answer for us as sometimes the machine is a gantry mill, and sometimes it is a hotwire. It is both within the same part, hence the need to switch back and forth.
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I guess I was hoping if I used different sections of a kins program, the joints would always be in position (no FB issues or bumps). since kins would be sending the commands to the joints? Therefore everybody would be happy
I guess this is not the case so we will continue to use the method we have in place now.
As for the tran, I will follow your link and see what I can see. Maybe it will also shed some light on the feedrate issue that I find when commanding UVW with any XYZ, in that XYZ always have the feedrate applied to them and UVW is sped up to keep up - even if UVW are then going too fast!
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