67 lines
1.9 KiB
Plaintext
67 lines
1.9 KiB
Plaintext
# These values should be edited to represent the machine geometry
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# Base joints positions in base (world) coordinates
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setp genhexkins.base.0.x -22.950
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setp genhexkins.base.0.y 13.250
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setp genhexkins.base.0.z 0.000
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setp genhexkins.base.1.x 22.950
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setp genhexkins.base.1.y 13.250
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setp genhexkins.base.1.z 0.000
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setp genhexkins.base.2.x 22.950
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setp genhexkins.base.2.y 13.250
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setp genhexkins.base.2.z 0.000
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setp genhexkins.base.3.x 0.000
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setp genhexkins.base.3.y -26.500
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setp genhexkins.base.3.z 0.000
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setp genhexkins.base.4.x 0.000
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setp genhexkins.base.4.y -26.500
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setp genhexkins.base.4.z 0.000
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setp genhexkins.base.5.x -22.950
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setp genhexkins.base.5.y 13.250
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setp genhexkins.base.5.z 0.000
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# Platform joints positions in platform coordinates
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setp genhexkins.platform.0.x -1.000
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setp genhexkins.platform.0.y 11.500
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setp genhexkins.platform.0.z 0.000
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setp genhexkins.platform.1.x 1.000
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setp genhexkins.platform.1.y 11.500
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setp genhexkins.platform.1.z 0.000
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setp genhexkins.platform.2.x 10.459
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setp genhexkins.platform.2.y -4.884
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setp genhexkins.platform.2.z 0.000
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setp genhexkins.platform.3.x 9.459
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setp genhexkins.platform.3.y -6.616
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setp genhexkins.platform.3.z 0.000
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setp genhexkins.platform.4.x -9.459
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setp genhexkins.platform.4.y -6.616
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setp genhexkins.platform.4.z 0.000
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setp genhexkins.platform.5.x -10.459
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setp genhexkins.platform.5.y -4.884
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setp genhexkins.platform.5.z 0.000
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# Connect tool offset pin to motion
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net tool-offset genhexkins.tool-offset motion.tooloffset.z
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# Forward kinematics iterations control, uncomment to use
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# Normally not nesessary, use only if you know what you're doing
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# Minimum error value that ends iterations with found solution
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# setp genhexkins.convergence-criterion 1e-9
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# Limit of iterations, if exceeded iterations stop with no convergence
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# setp genhexkins.limit-iterations 120
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# Maximum error value, if exceeded iterations stop with no convergence
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# setp genhexkins.max-error 100.0
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