Matt Shaver wrote:
>1. When executing the HAL command, "loadrt motmod ..." I can use the
>arguments "base_period_nsec=<value>", "servo_period_nsec=<value>", and
>"traj_period_nsec=<value>", but I can't use "num_joints=<value>",
>"num_dio=<value>, or "num_aio=<value>" (I get "unknown symbol in
>module" in the error report). These module parameters are defined in
>motion.c, something called numJoints is declared in motion.h.
>
>
The parameter does exist, but you can't specify less than 1 or more than
EMCMOT_MAX_JOINTS or the module will refuse to load. Short version:
you can only reduce the number of joints, not increase it.
>2. In emcmotcfg.h EMCMOT_MAX_JOINTS is #defined as 9. In motion.c,
>num_joints is set to this constant and the joint pin groups are
>exported:
>
>"/* export joint pins and parameters */
> for (n = 0; n < num_joints; n++) {..."
>
>The output of "halcmd show" reveals pins for axis.0 to axis.7 (8 axes,
>rather than 9), so I think the code should be:
>
>"/* export joint pins and parameters */
> for (n = 0; n <= num_joints; n++) {..."
>
>
No, the init code is correct. The array goes from 0 to num_joints-1, as
it should. It's likely that the config you used loaded motmod with
num_joints=8 (a reduction from 9, so it would load without error)
>or EMCMOT_MAX_JOINTS should be 10 if by default you plan on allowing
>for trivial kinematics and A,B,C,U,V,W,X,Y, and Z.
>
>
Nope. :)
- Steve
>Thanks,
>Matt
>
>
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