Scarakins , changing the arm specs

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22 Feb 2013 04:52 #30426 by brianTruck
Hi all,
I just got my scara robot running on LinuxCNC , but have one little problem.

How do you change the scarakin.D1 ,scarakin.D2 ,ect. I want to change the length of my arms

Thanks'
Brian

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22 Feb 2013 20:01 #30447 by ArcEye
Hi

I had to load the module and examine it to be sure, the documentation is rubbish, does not even say what hal type the pins are, albeit I could guess float.

The hal command you want is
setp scarkins.D1 nnn.nnnnnn

ie the value is a floating point value you can set or amend with setp (set pin or param)

It looks as though there are default values already
D1 490
D2 340
D3 50
D4 250
D5 50
D6 50

TIP: If you ever want to look at a module like this and experiment , from a terminal run something like
halrun
halcmd: loadrt scarkins
halcmd: show all
halcmd: setp scarakins.D1 465.204
halcmd: show all
halcmd: unloadrt scarakins
halcmd: exit


see man halrun for more options

regards
The following user(s) said Thank You: brianTruck, Boogie

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22 Feb 2013 22:20 #30452 by brianTruck
Cool,
Thank You ! works great.

Now for the next problem ,the scara gui arms are now too short .I opened the scara gui in gedit and changed the arms ,but can't save it.

Thanks'
Brian

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22 Feb 2013 22:46 #30453 by ArcEye
sudo gedit

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23 Feb 2013 00:55 #30458 by brianTruck
ArcEye,
Thanks , I'm just starting to get my feet wet with Linux.

Brian

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