47 lines
1.2 KiB
Plaintext
47 lines
1.2 KiB
Plaintext
2extrajoints 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) joint.4 and joint.5 are 'extra'
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joints not related to any axis
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letter but managed independently by
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limit3 components.
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c) The configuration uses basic_sim.tcl
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and simulates home switches for all
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joints.
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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) optionally jog joint.4 and joint.5
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prior to homing to observe motor
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offset
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4) Ctrl-HOME (Home all)
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5) demonstrate joint.[45] movement
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using the provided M144 mdi
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command:
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M144 P4 Q1.23 move joint.4 to 1.23
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M144 P4 Q4.56 move joint.4 to 4.56
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M144 P5 Q3.21 move joint.5 to 3.21
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M144 P5 Q2.22 move joint.5 to 2.22
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etc.
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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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similar for j5
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