On 11/16/2017 2:10 AM, thangle wrote: > Hi, > > Is there anyway that i can change robot config by Gcode? Example in > pumakins, there is a flag call "iflag" that discribe the config of elbow, > shoulder and wrist. I want to change the elbow config of robot from up to > behind. i already tried make a new hal pin for kinematic then set this pin > to change iflag by M code but it does not work, it's always show " joint > following error" when i active M62 or M64 code
Anytime you try to instantly change the machine state you are going to get a joint following error, and changing the iflag value almost certainly is changing the commanded joint positions instantly. I believe you can do what you're wanting, but you would first need to move to a point where the elbow config is "zero" (ie: neither "up" nor "behind", defined as a pose where the state of the iflag makes no difference in the kinematic calculations and resulting joint position outputs). Then change the iflag (which now should not cause a following error) and when you move next the elbow should move in the new orientation. -- Charles Steinkuehler [email protected] -- website: http://www.machinekit.io blog: http://blog.machinekit.io github: https://github.com/machinekit --- You received this message because you are subscribed to the Google Groups "Machinekit" group. To unsubscribe from this group and stop receiving emails from it, send an email to [email protected]. Visit this group at https://groups.google.com/group/machinekit. For more options, visit https://groups.google.com/d/optout.
