5 DOF Robotic Arm

Hello to all,

I need your help.

I have a 5 DOF robotic arm and I am having problems with the axis in the GUI. Even though I have 5 rotary axes, the Preview shows me 5 linear axes.

I tried swapping the order of the axes in the GEOMETRY section of the HAL file like:

" GEOMETRY = ABXYZ " instead of "GEOMETRY = XYZAB"
but nothing done.

Any suggestions?

Please, write soon!

I have a 5 DOF robotic arm and I am having problems with the axis in the GUI. Even though I have 5 rotary axes, the Preview shows me 5 linear axes.

Not exactly sure what you expect to see but as far as I know XYZ will always be displayed as linear and ABC as rotary.
Can you post a screen shot?

My aim is to have the right trajectory of the end effector along the way. However, what I see is just linear motion.

I would like to get a preview like the one in this video:

I'm not in the lab now so I can attach the screenshot, I'll do it as soon as possible.

My aim is to have the right trajectory of the end effector along the way

Are you aware that you need a kinematic file to translate your joint position to cartesian coordinates?

Yes, in fact when I run the g-code, the robot moves correctly. The problem is that the actual trajectory of the final effector doesn't match what I see in the preview.

The problem is that the actual trajectory of the final effector doesn't match what I see in the preview.

Is this a vismach visualization or just the trajectory preview in AXIS?

It is just the trajectory preview in AXIS.

Any ideas?

So a rotation of A gives you a linear translation in the preview and if so in which direction?
Can you post your ini and hal?

In the ini file, "display" section there is the below entry:
GEOMETRY = xyz
Try changing that.

This is what I have in the ini file, display section.


Where should I add "geometry"?