Moving robot joints by only 1 Gcode command?

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heaven
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02 Apr 2025 16:19 #325527 by heaven

Moving robot joints by only 1 Gcode command? was created by heaven

Hi,
Right now, i'm trying to control a 6-dof robot by linuxcnc, I found kinematic-switch function for moving joints from Gcode.I guess I need to make 3 Gcode commands to just do one task like:
1st-cmd: Use M code command to switch to nontrivial kin
2nd-cmd: use G code command to move joint
3rd-cmd: Use Mcode command to switch back to trivial kin
Yes, it can do my job but it complicated and not friendly. has anyone tried to merge these commands to a single one or any other way to do something similar

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Aciera
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02 Apr 2025 17:15 #325530 by Aciera

Replied by Aciera on topic Moving robot joints by only 1 Gcode command?

choose an unassigned gcode number and use a remap to fold those 3 commands into one.

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heaven
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03 Apr 2025 03:50 #325572 by heaven

Replied by heaven on topic Moving robot joints by only 1 Gcode command?

Thanks for your reply.
Can you explain in more detail, as I understand I should:
1. Creating an O-code for a subroutine that contains these 3 commands
2. Remap a new G-code that will call the O-code above
Is this what you mean or is there a more straightforward way?

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Aciera
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03 Apr 2025 09:16 #325597 by Aciera

Replied by Aciera on topic Moving robot joints by only 1 Gcode command?

Yes, that is the idea.

Here is an example using an ngc remap:

REMAP = G01.1 modalgroup=1 argspec=xyzabc ngc=g011remap

o<g011remap>sub
M66 L0 E0                                                   ;force sync, stop read ahead
M428
o100 if [EXISTS [#<X>]]
o100 else
   #<X> = #<_x>
o100 endif
o101 if [EXISTS [#<Y>]]
o101 else
   #<Y> = #<_y>
o101 endif
o102 if [EXISTS [#<Z>]]
o102 else
   #<Z> = #<_z>
o102 endif
o103 if [EXISTS [#<A>]]
o103 else
   #<A> = #<_a>
o103 endif
o104 if [EXISTS [#<B>]]
o104 else
   #<B> = #<_b>
o104 endif
o105 if [EXISTS [#<C>]]
o105 else
   #<C> = #<_c>
o105 endif
G1 X#<X> Y#<Y> Z#<Z> A#<A> B#<B> C#<C>
M429
o<g011remap>endsub
m2

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heaven
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03 Apr 2025 16:53 #325630 by heaven

Replied by heaven on topic Moving robot joints by only 1 Gcode command?

After trying this idea, i faced another problem: every time I stop the program during movejoint command. The controller doesn't return default kin, I have to use M code to switch back manually, I tried to hack into the controller(the command.c file) to force it to return to default kinematic every time I hit stop or estop. tks, it worked

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Aciera
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03 Apr 2025 17:05 #325631 by Aciera

Replied by Aciera on topic Moving robot joints by only 1 Gcode command?

maybe try ON_ABORT_COMMAND:
forum.linuxcnc.org/24-hal-components/280...de-and-e-stop#325497

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