you will also need to add:
1. in the [HAL] section of your ini file (make sure to adjust the x- and z- offset values according to your setup):
Code:
# net for control of motion.switchkins-type
HALCMD = net :kinstype-select <= motion.analog-out-03 => motion.switchkins-type
# required for xyzac-trt-kins component
HALCMD = net :tool-offset motion.tooloffset.z
HALCMD = net :tool-offset xyzac-trt-kins.tool-offset
HALCMD = net :y-offset xyzac-trt-kins.y-offset
HALCMD = net :z-offset xyzac-trt-kins.z-offset
HALCMD = sets :y-offset <your y-offset value here>
HALCMD = sets :z-offset <your z-offset value here
# These are the absolute coordinates of the top center of your C-rotary table
HALCMD = setp xyzac-trt-kins.x-rot-point 0
HALCMD = setp xyzac-trt-kins.y-rot-point 0
HALCMD = setp xyzac-trt-kins.z-rot-point 0
2. For the switchable kinematics feature you need these in the [HALUI] section of your ini file:
Code:
# NOTE: kinstype==0 is identity kins because sparm=identityfirst
# M429:identity kins (motion.switchkins-type==0 startupDEFAULT)
# M428:xyzac kins (motion.switchkins-type==1)
MDI_COMMAND = M429
MDI_COMMAND = M428
And these in your [RS274NGC] section:
Code:
REMAP = M428 modalgroup=10 ngc=428remap
REMAP = M429 modalgroup=10 ngc=429remap
Make sure to copy the files 'M428' and 'M429' into a folder in your [RS274NGC]-SUROUTINE_PATH.
