jaxonusa wrote: sim-axis-Vismach-puma-puma560 is really neat.
I think in that sim you can switch between cartesian and joint jogging (Machine menu or $ shortcut). Which might answer one of your questions.
G-code -> interpreter -> Genserkins -> hal pins ?
There's a trajectory planner in there somewhere too right?
G-code -> interpreter -> TP -> TC -> kinematics -> HAL.
linuxcnc.org/docs/html/code/code-notes.html
The abc. Is it a Euler sequence? 1st a about x, then b about y, then c about z? I've worked with kukas where a is the 1st rotation about z, then b about y, finally c about x.
It's something like that. I confess I have never needed to know as I don't own a robot.
I think it is actually something that is entirely determined by the kinematics file. That basically gets the XYZ ABC numbers directly, and transforms them in to joint angles, so the ABC can be interpreted in a number of ways.
linuxcnc.org/docs/2.8/html/motion/5-axis-kinematics.html
