making 6 axis robotic arm with puma 560 kinematics
14 Jan 2011 13:10 #6682
by andypugh
Replied by andypugh on topic Re:making 6 axis robotic arm with puma 560 kinematics
billi83 wrote:
Anything is possible in EMC2
Add the following to your HAL file.. (You will need to modify this to work with your setup, but this should be close)
Hmm, that is actually quite a lot simpler than editing the kinematics.
If I could create this signals Phi4 and Phi5 in hal:
Phi4 = J4pos + J5pos
Phi5 = J4pos - J5pos
Is it possible?
Anything is possible in EMC2
Add the following to your HAL file.. (You will need to modify this to work with your setup, but this should be close)
loadrt sum2 count=2
addf sum2.0 servo-thread
addf sum2.1 servo-thread
#make the second sum2 into a subtractor
setp sum2.1.gain1 -1
net J4 axis.4.motor-pos-cmd => sum2.0.in0 sum2.0.in1
net J5 axis.5.motor-pos-cmd => sum2.1.in0 sum2.1.in1
net P4 sum2.0.out => stepgen.4.position-cmd
net P5 sum2.0.out => stepgen.5.position-cmd Hmm, that is actually quite a lot simpler than editing the kinematics.
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