38 lines
1.0 KiB
Plaintext
38 lines
1.0 KiB
Plaintext
1extrajoint demo
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Demo of the motmod num_extrajoints= parameter
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a) XYYZ correspond one-to-one to
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joints 0123
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b) Joint4 is an 'extra joint' that is
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not related to any axis letter but
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is managed independently by a limit3
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component.
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c) All joints use 'immediate homing'
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d) Using extra joints requires
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NON-identity kinematics and all
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joints (including joint4) must be
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homed before switching to world
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mode.
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e) A halshow app is opened to display
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key pin values
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f) A sim_pin app is opened to set key
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pin values
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Usage:
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1) F1 (Estop Off)
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2) F2 (Machine On)
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3) jog joint4 to create a small offset
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4) Ctrl-HOME (Home all)
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5) demonstrate joint.4 movement using
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the provided M144 mdi command:
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M144 P4 Q1.23 ;move joint.4 to 1.23
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M144 P4 Q3.21 ;move joint.4 to 3.21
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6) Alternately, demonstrate joint.[45]
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movement using sim_pin settings:
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j4.limit3.min min value
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j4.limit3.max max value
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j4.limit3.maxv max velocity
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j4.limit3.maxa max acceleration
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j4.limit3.in requested value
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