JBauer Posted July 23, 2010 Share Posted July 23, 2010 Hi I have a clipper board and I'm trying to get the inverse kinematic to work, but no motion happend, no error messages. The runtime error bit (22) for the C.S 1 is going to 1. I have done a very small test using the X and Y axis: settings: #1->I #2->I I5150=1 enable kinematic for C.S 1 uploaded kinematic program: &1 OPEN INVERSE ; Inverse kinematics for CS 1 CLEAR P1 = Q7 * 1000 ; X axis P2 = Q8 * 1000 ; Y axis CLOSE and the program to run: OPEN PROG 6 CLEAR RAPID X0 Y0 LINEAR X30 Y20 F200 CLOSE Can any one tell me what I am doing wrong ? best regards Jorgen Link to comment Share on other sites More sharing options...
Richard Naddaf Posted July 23, 2010 Share Posted July 23, 2010 You need Forward Kinematics, i.e. if you are starting from zero (home): OPEN FORWARD CLEAR Q7=0 Q8=0 CLOSE Link to comment Share on other sites More sharing options...
steve.milici Posted July 23, 2010 Share Posted July 23, 2010 Turbo PMAC requires both the inverse-kinematic and forward-kinematic buffers. The forward-kinematic program is executed automatically each time an R (run) or S (step) command is given to the coordinate system. This is done to ensure that the starting tip (axis) position is correct. The forward-kinematic program is also executed automatically each time a PMATCH command is given to the coordinate system. If PMAC cannot execute this buffer a run-time error will occur. Link to comment Share on other sites More sharing options...
Unit101 Posted July 25, 2010 Share Posted July 25, 2010 Is this JACK Bauer ? Link to comment Share on other sites More sharing options...
JBauer Posted July 26, 2010 Author Share Posted July 26, 2010 [quote='Unit101' pid='565' dateline='1280082090'] Is this JACK Bauer ? [/quote] Almost :-) Best regards Jorgen Bauer (Denmark) Link to comment Share on other sites More sharing options...
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