Dynomotion

Group: DynoMotion Message: 11743 From: Hardy Family Date: 6/22/2015
Subject: Dynamically selecting kinematics
Hi Tom,

In coordmotion.cpp, the constructor selects a kinematics class based on the existence of a file.  We would like to be able to change the kin class at run-time e.g. if the program has G43.4 then it should change to 5-axis tool orientation control, then be able to change back to normal "rotary indexing" mode when G49.

My question is whether it would be better to have the "switching" in the kinematics class itself, or have a method in coordmotion which switches between two (or more) kin classes.  An then, what precautions would I have to take when switching?  E.g. synchronizing DROs.

Regards,
SJH
Group: DynoMotion Message: 11745 From: Tom Kerekes Date: 6/22/2015
Subject: Re: Dynamically selecting kinematics
Hi SJH,

I'm not completely sure but I think a single (more complex) Kinematics class with mode changes would be the most flexible.

I suspect to get that to work a few parameters would need to be added in the MOTION_PARAMS structure that would be set by the GCode Interpreter.

I'd start with getting G43.4 working in the first place.

Regards
TK