kmonroe023 Posted March 29, 2012 Share Posted March 29, 2012 Is there anything that would cause axis values returned from the kinematic routines to be incorrect. Not sure what caused this, and rebooting the Pmac fixed it, but when I queried the axis positions from the terminal ("&1p"), they were clearly wrong. I also set P variables equal to the axis and motor positions at the end of the kinematic routines and monitored those in the watch window, and those reported the correct positions! So I know the kinematics were working properly, the values just seemed to get mis-reported to the system. The only thing I did before experiencing this problem was a script PLC download, after that both kinematic routines reported the same incorrect values. Rebooting the PMAC fixed it though. The kinematic routines I'm using "have alot of miles" on them so I'm just curious as to what could have caused this problem. Thanks, Kevin Monroe Link to comment Share on other sites More sharing options...
Sina.Sattari Posted March 29, 2012 Share Posted March 29, 2012 Kevin, Are you setting the KinAxisUsed parameter at the end of your forward kinematics routine? Link to comment Share on other sites More sharing options...
kmonroe023 Posted March 30, 2012 Author Share Posted March 30, 2012 I am setting the KinAxisUsed in the Forward kinematic routine(see below), not in the inverse routine. if (KinVelEna>0) callsub 100; // double pass for velocity calcs? KinAxisUsed=$C4; // X,Y,C returned N100: Link to comment Share on other sites More sharing options...
kmonroe023 Posted March 30, 2012 Author Share Posted March 30, 2012 Nevermind...it wasn't the kinematics after all. I am using axis transformations to cut multiple shapes. If the process was interrupted, the recovery routine was not deselecting the transformation before moving the motors. Once I fixed that, everything works as expected. Thanks to Charles this morning for taking my call and shaking loose the cobwebs for me! Kevin Monroe Link to comment Share on other sites More sharing options...
Recommended Posts