skins scaraRobot don't update Limits of z axis

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10 Nov 2021 02:56 #225914 by annhandt09
Hi all,

I am using the skins for my scara.

The limit config of Z-axis doesn't update when I change the world mode to joint mode ( M428 and M429)

example my config:

[AXIS_Z]
TYPE = LINEAR
HOME = 125.000
MIN_LIMIT = 120.0
MAX_LIMIT = 135.0
MAX_VELOCITY = 150
MAX_ACCELERATION = 200
[JOINT_2]
TYPE = LINEAR
AXIS = Z
MIN_LIMIT = -5.0
MAX_LIMIT = 20.0

With this config, the limit is always 120-135 when I change world mode and joint mode (M428, M429)
Other axes work very well

can you help me check it?

I think the kinematic function of scara "joint[2] = D1 + D3 - D5 - z;"  . so when I change from M429 to M428, then the Z-Pos change from 125 to 0, So I can't change the limit of z-axis from -5-20

thank you so much


 

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10 Nov 2021 06:50 #225930 by annhandt09
i removed Z calculated functions in scarakins

z = D1 + D3 - joint[2] - D5; to z = joint[2]

and 

joint[2] = D1 + D3 - D5 - z; to joint[2] = z

after setting the limit Z-Axis again and it work well with 

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11 Nov 2021 16:53 #226118 by andypugh
Is this working now?

Do you think that this is an error in scarakins?

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