Having looked a bit more carefully, I am a little confused myself...
In the INI we have:
Code:
[MAX]
# distance from the end of the "reference tool" (tool-length - 0) to the
# center of the head tilt axis
B_PIVOT_LENGTH = 0
And in the HAL:
Code:
# kins needs this value
setp maxkins.pivot-length [MAX]B_PIVOT_LENGTH
So pivot-length = 0.
So, what actually happens, is that the tool table contains a "W" length entry for each tool, and the max5kins uses that in the calculations.
Code:
// B correction
double zb = (*(haldata->pivot_length) + joints[8]) * cos(d2r(joints[4]));
double xb = (*(haldata->pivot_length) + joints[8]) * sin(d2r(joints[4]));
But that idea is not supported by an inspection of the max5 demo tooltable.
I feel sure that experimentation with the demo config and virtual machine tool will make it all clearer.
