thanks for answer me andy, should i only enter that or i need to do something else? I ask you 'cause i saw that other person defines:
oadrt scale count=6 addf scale.0 servo-thread addf scale.1 servo-thread addf scale.2 servo-thread addf scale.3 servo-thread addf scale.4 servo-thread addf scale.5 servo-thread linksp xpos-cmd scale.0.in linksp ypos-cmd scale.1.in linksp zpos-cmd scale.2.in linksp apos-cmd scale.3.in linksp bpos-cmd scale.4.in linksp cpos-cmd scale.5.in setp scale.0.gain 1 setp scale.1.gain 1 setp scale.2.gain 1 setp scale.3.gain 1 setp scale.4.gain 1 setp scale.5.gain 1 is that necessary ? what is scale in this context? El mié., 6 de mar. de 2019 a la(s) 14:45, andy pugh ([email protected]) escribió: > On Wed, 6 Mar 2019 at 17:56, yomin estiven jaramillo munera > <[email protected]> wrote: > > > > thanks chris, could you tell me how i can enter my D-H parameters and n > > which file (my .hal, genserkins, or puma > > kins) > > You set them in the HAL file, as shown below: > > > > > setp genserkins.A-0 0 > > > > setp genserkins.A-1 0 > > > > setp genserkins.A-2 7.47 > > > > setp genserkins.A-3 0 > > > > setp genserkins.A-4 0 > > > > setp genserkins.A-5 0 > > > > > > > > setp genserkins.ALPHA-0 0 > > > > setp genserkins.ALPHA-1 1.570796326 > > > > setp genserkins.ALPHA-2 0 > > > > setp genserkins.ALPHA-3 1.570796326 > > > > setp genserkins.ALPHA-4 -1.570796326 > > > > setp genserkins.ALPHA-5 1.570796326 > > > > > > > > setp genserkins.D-0 9.38 > > > > setp genserkins.D-1 0 > > > > setp genserkins.D-2 0 > > > > setp genserkins.D-3 7.47 > > > > setp genserkins.D-4 0 > > > > setp genserkins.D-5 0.8 > > > Note that Genserkins uses "modified" DH parameters. > > http://linuxcnc.org/docs/devel/html/man/man9/genserkins.9.html > > https://en.wikipedia.org/wiki/Denavit%E2%80%93Hartenberg_parameters#Modified_DH_parameters > > -- > atp > "A motorcycle is a bicycle with a pandemonium attachment and is > designed for the especial use of mechanical geniuses, daredevils and > lunatics." > — George Fitch, Atlanta Constitution Newspaper, 1916 > > > _______________________________________________ > Emc-users mailing list > [email protected] > https://lists.sourceforge.net/lists/listinfo/emc-users > _______________________________________________ Emc-users mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-users
