AXIS for a robot X Z C
09 Jan 2020 06:44 #154409
by Longbow
AXIS for a robot X Z C was created by Longbow
Hello!
I have a robot that has 2 linear axis: Z for up/down and X for forward/backwards and the 3rd axis C that is for turning around its axis - so it is an angular axis
Is there a way to set up AXIS to have X in mm Z in mm and C in degrees?
I tried in INI file to change the [TRAJ]AXES to X Z C but it would not work
Thank you!
I have a robot that has 2 linear axis: Z for up/down and X for forward/backwards and the 3rd axis C that is for turning around its axis - so it is an angular axis
Is there a way to set up AXIS to have X in mm Z in mm and C in degrees?
I tried in INI file to change the [TRAJ]AXES to X Z C but it would not work
Thank you!
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09 Jan 2020 16:08 #154454
by aleksamc
Replied by aleksamc on topic AXIS for a robot X Z C
I think you should have in your ini-file such statements:
And also:
[TRAJ]
AXES = 3
COORDINATES = X Z C
LINEAR_UNITS = mm
ANGULAR_UNITS = degreeAnd also:
[AXIS_2]
TYPE = ANGULAR
WRAPPED_ROTARY =1Please Log in or Create an account to join the conversation.
10 Jan 2020 13:21 #154546
by Longbow
Replied by Longbow on topic AXIS for a robot X Z C
Hi!
I already tried your suggestion. It was the most straight forward answer to my problem. But it gives an error and linuxcnc wont start.
Then I added the 4th axis and it works but I do have only 3 axis
[TRAJ]
AXES = 4
COORDINATES = X Y Z A
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
Y is not existent and A is in fact C.
I do not think that it is possible to have less than x y z. It is like mandatory?
I already tried your suggestion. It was the most straight forward answer to my problem. But it gives an error and linuxcnc wont start.
Then I added the 4th axis and it works but I do have only 3 axis
[TRAJ]
AXES = 4
COORDINATES = X Y Z A
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
Y is not existent and A is in fact C.
I do not think that it is possible to have less than x y z. It is like mandatory?
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10 Jan 2020 13:54 - 10 Jan 2020 13:56 #154548
by aleksamc
Replied by aleksamc on topic AXIS for a robot X Z C
Yes, possibly standart kinematic need to have Y axis, you can succesfully work with it unused.
You can also read ( Kinematics ) if you want to get into this deeper.
In such way, your rotary axis will be [AXIS_3]
You can also read ( Kinematics ) if you want to get into this deeper.
In such way, your rotary axis will be [AXIS_3]
Last edit: 10 Jan 2020 13:56 by aleksamc.
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10 Jan 2020 20:50 #154577
by andypugh
With the 2.8 version you can have "gaps" in the axis assignments. But earlier versions need dummy INI fle sections even for axes that do not exist.
So, you can have an XZC machine, but there need to be [JOINT_n] sections for N = 0 to 5.
Replied by andypugh on topic AXIS for a robot X Z C
I do not think that it is possible to have less than x y z. It is like mandatory?
With the 2.8 version you can have "gaps" in the axis assignments. But earlier versions need dummy INI fle sections even for axes that do not exist.
So, you can have an XZC machine, but there need to be [JOINT_n] sections for N = 0 to 5.
The following user(s) said Thank You: Longbow
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