33 lines
875 B
Plaintext
33 lines
875 B
Plaintext
loadusr -W 5axisgui
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# to set different pivot_len, use:
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# 'loadusr -W 5axisgui pivot_len=value'
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net :jx joint.0.pos-fb 5axisgui.jx
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net :jy joint.1.pos-fb 5axisgui.jy
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net :jz joint.2.pos-fb 5axisgui.jz
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net :jb joint.3.pos-fb 5axisgui.jb
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net :jc joint.4.pos-fb 5axisgui.jc
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net :jw joint.5.pos-fb
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net :jy2 joint.6.pos-fb
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# Note: no joint or motor connections are used
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# for the w coordinate
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# compute pivot-length needed for 5axiskins
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# according to gui pivot_len and tool z offset
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loadrt sum2 names=pivotsum
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addf pivotsum servo-thread
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net :gui-pivot-len <= 5axisgui.pivot_len
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net :gui-pivot-len => pivotsum.in0
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net :tool-len <= motion.tooloffset.z
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net :tool-len => pivotsum.in1
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net :tool-len => 5axisgui.tool_length
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net :pivot-len <= pivotsum.out
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net :pivot-len => 5axiskins.pivot-length
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net :tool-diam <= halui.tool.diameter
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net :tool-diam => 5axisgui.tool_diam
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