steves_logging is now known as steve_stallings
steve_stallings is now known as steves_logging
EMC: 03micges 07task_cleanup * r69e7412e80fe 10/src/emc/task/emctaskmain.cc: Use correct constant.. (thanks cradek)
with a bit of time to spare ;)
shortly I have machine with XYV configuration, and the best would be to have two cone in the preview.. is it possible?
one cone to XY and second to XV
* alex_joni has no idea ;)
but probably not without hacking AXIS quite much
so I must ask jepler :)
it would be 'cool' to be able to define to what position the cone gets connected to
but I imagine it's only usefull for a handfull of cases
alex_joni: I'll make photos :)
alex_joni: one thing, I would like you to see ja3 progress and make some comments or direction for me, it would be very helpfull
I did read the diff's
but not that close ;)
the one thing that was missing when I last worked on ja2 was working on jogging
teleop didn't exist in ja3
I took it out
I don't think we need to have different jogging commands for world/joint mode
basicly I think 2 jogging modes are needed: continuous and step based
you select joint or axis
then jog an increment, or with a certain velocity
the part that gets more complicated is doing the same thing in the motion controller
allow jogwheels (both for joints and axes)
in axis position limits should be draw from axes or joints limits? or both based of mode?
and I don't fully understand homing in a non trivkins
when I home joints in a example (XYZBC) how should I interface it to axes?
ideally the position limits should be drawn from joints
but on a nontrivkins machine, the joint limits result in non-rectangular space
not sure how you can display it
maybe (for now) we can define a carthesian workspace inside the machine workspace
and display that
have TRAJ limits (x0,y0,z0 .. x1, y1, z1)
ok I see, and homing?
you need to home joints first
then you should be able to switch to world
there is a [TRAJ] HOME which currently isn't used
and then all axes are homed and homing world position should be set to each axis? or user should homed axes again?
you shouldn't be able to home in world mdoe
you only home joints
once all joints are homed, you can set the world position to the [TRAJ]HOME position
so no homed indicator on world mode ?
alex_joni: thank you very much for infos
micges_work: you need to be homed to get to world mode
there shouldn't be any case where you are in world mode, but are not homed
* alex_joni is talking about machines with KINEMATICS_BOTH
yes I understand it too
so mdi should locked too?
or coord mode isn't related
ideally it should allow only joint moves :D
you can't move in carthesian coordinates until you're homed
BigJohnT is now known as MediumJohnT
getting any sleep yet?
"any" is easy to beat
"enough" is a different matter ;)
break fast time here
micges_work: heh ;)
it works very cool: http://imagebin.ca/view/OLwTki.html
looks like it
* alex_joni got forward kins figured out
is this for the 'generic' robot arm kins? or specific to your robot?
skunkworks_: it's using genserkins
but specific to my robot
genserkins = generic serial kinematics ;)
any pictures of it drawing a box in world mode? :)
nope, you need inverse kins for that ;)
and those are only partly working
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SWPadnos_ is now known as SWPadnos