45 lines
954 B
Plaintext
45 lines
954 B
Plaintext
melfa-switchkins usage:
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1) startup (after homing) is in
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genserkins mode configured like
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melfa-switchkins.ini as an mm-based machine
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with 6 revolute joints.
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2) pyvcp buttons are provided to switch
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between genserkins and identity
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kinematics. The buttons issue remapped
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commands M428,M429. These commands a)
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set the motion.switchkins-type pin and
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b) force a synchronization using a
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motion input read command.
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3) when set for identity kins, default
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assignments are:
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x : joint0
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y : joint1
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z : joint2
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a : joint3
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b : joint4
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c : joint5
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so the gcode commands:
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'g0x10' moves joint0
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'g0c10' moves joint5
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4) the ordering can be altered using the
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genser-switchkins kinematics module
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parameter 'coordinates'. For example,
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KINEMATICS=genser-switchkins coordinates=abcxyz
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assigns:
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a : joint0
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b : joint1
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c : joint2
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x : joint3
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y : joint4
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z : joint5
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so the gcode commands:
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'g0x10' moves joint3
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'g0c10' moves joint2
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