Re: EMC Display, howto change to XYA, handbook

["Fred Zinsli" <fred-at-shooter.co.nz>]

Thank you for this information.

I don't want to sound to ignorant, but in what file would I make these 
changes, and where would it normally be located ?? I am going to assume that 
it is in the relevant INI file for the script I am running, ie. emc.ini

Many thanks


Fred

-----Original Message-----
From: Maximilian HEISE <max.heise-at-gmx.net>
To: Multiple recipients of list <emc-at-nist.gov>
Date: Thu, 20 Dec 2001 06:20:19 -0500 (EST)
Subject: Re: EMC Display, howto change to XYA, handbook

> 
> Hello Fred,
> >
> > I want to change the display within EMC, and heres what I want to do.
> >
> > Change the 0, 1, 2 in 3 axis, or 0, 1, 2, 3 in four axis to read X, Y, Z
> or
> > X, Y, X, A
> >
> > I cant seem to see anything that is relevant in the INI file. Am I
> looking
> > in the wrong place, where should I be looking, or can it even be done ?
> 
> I asked Fred Proctor the same for xyc a while ago , he described the 
> procedure/needed changes as follows:
> 
> In src/emcmot/trivkins.c:
> int kinematicsForward(const double * joints,
>                       EmcPose * pos,
>                       const KINEMATICS_FORWARD_FLAGS * fflags,
>                       KINEMATICS_INVERSE_FLAGS * iflags)
> {
>   pos->tran.x = joints[0];
>   pos->tran.y = joints[1];
>   pos->tran.z = 0; /* joints[2]; */
>   pos->a = joints[2]; /* joints[3]; */
>   pos->b = 0; /* joints[4]; */
>   pos->c = 0; /* joints[5]; */
> 
>   return 0;
> }
> 
> int kinematicsInverse(const EmcPose * pos,
>                       double * joints,
>                       const KINEMATICS_INVERSE_FLAGS * iflags,
>                       KINEMATICS_FORWARD_FLAGS * fflags)
> {
>   joints[0] = pos->tran.x;
>   joints[1] = pos->tran.y;
>   joints[2] = pos->a; /* tran.z; */
>   joints[3] = 0; /* pos->a; */
>   joints[4] = 0 /* pos->b; */
>   joints[5] = 0 /* pos->c; */
> 
>   return 0;
> }
> 
> Recompile. Change your .ini file so that the display shows XYA. 
> COORDINATES =           X Y C
> Now should you have x, y, a. Next you have change tkemc to display the 
> different axes. Look for emc_ and some code that looks like an index to
> axes 
> from 0 to 5. Unfortunately for you I do not have my changed tkemc here. I 
> recall that you have to change some default string too, something like "X0
> Y0 
> Z0", I think it was something with offset, but do not count on that.
> 
> I'd be interested if someone else had some other clever way (TM) to make
> this 
> easier.
> 
> If this is not in the handbook, maybe you could write up your changes and 
> send it to the handbook maintainers.
> 
> Regards
> Max
> 
> -- 
> Max Heise <max.heise-at-gmx.net>
> Student Mechatronik/Automatisierungstechnik FHT Esslingen
> PGP public key from:
> http://www.fht-esslingen.de/~mahemt01/pgp50i.pub or any keyserver
> 



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