SCARA hand region issues
01 Jun 2017 06:51 #93916
by Niko
Replied by Niko on topic SCARA hand region issues
Right after homing the arm is at 0: 116 ; 1: 133 ; 2: -1 (1 mm from the top limit switch) ; 3: 0 and world mode X: -480.4 ; Y: -202.2 ; Z: 318 ; C: 248 . In tk the arm position corresponds to the actual position . Leftmost on the two joins . Zero is a straight arm pointing ahead (middle of the work table ) .
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01 Jun 2017 12:00 #93921
by andypugh
Replied by andypugh on topic SCARA hand region issues
Are those the machine coordinates? And do they sound right? Diagrams on the internet seem to suggest that the robots inhabit the +X space with the origin in the centre of the base.
It is possible that the inverse kins is "blowing up" in some way.
I think that there is a way to run the kinematics from the command line, to see what joint positions your requested world position is mapped to. But I would need to be at a LinuxCNC machine to experiment.
I don't know for sure if LinuxCNC distinguishes between joint and axis violations, does the error message you get make it clear?
It is possible that the inverse kins is "blowing up" in some way.
I think that there is a way to run the kinematics from the command line, to see what joint positions your requested world position is mapped to. But I would need to be at a LinuxCNC machine to experiment.
I don't know for sure if LinuxCNC distinguishes between joint and axis violations, does the error message you get make it clear?
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01 Jun 2017 12:39 #93924
by Niko
Replied by Niko on topic SCARA hand region issues
Yes, those are machine coordinates . Is zero the base of the robot ?
As far as the error goes, I can't make anything out .
Right now it's with 2.7.8 and it works nicely . I'll have to leave it like that because the vision system will be fitted .
As far as the error goes, I can't make anything out .
Right now it's with 2.7.8 and it works nicely . I'll have to leave it like that because the vision system will be fitted .
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