Software limit switch axis 6

Hello

In krc2 it's changing variable->signal

$softp_end[axle number]
$softn_end[axle number]

for rotary axis max is +/-358deg

It is possible to put A6 into "endless" mode, where it has no limits at all. But this requires very careful programming to handle "unwinding" the axis over time, and to avoid "shortcutting" rotations -- ordering an "endless" A6 to rotate +359deg will generally result in it moving -1deg, since that would be the shortest path to the same endpoint.

Quote from SkyeFire

It is possible to put A6 into "endless" mode, where it has no limits at all. But this requires very careful programming to handle "unwinding" the axis over time, and to avoid "shortcutting" rotations -- ordering an "endless" A6 to rotate +359deg will generally result in it moving -1deg, since that would be the shortest path to the same endpoint.

put the A6 into "endless" mode.. it means that I can make the A6 rotary whatever turns I want? how to do ?

Quote

Hello everyone!
I'm a new user here and I'm looking for a solution how to use external axis like a spindle.
I'm going to design a tool with a servomotor and I need to control speed and typical commands like turn ON/OFF directly from programm.
I found that I can config ( in machine.dat $AXIS_TYPE[1]=3 ;1 = LINEAR, 2 = SPINDLE, 3 = ROTATORY, 4 = FINAL, 5 = ENDLESS
) external axis like SPINDLE. This is good but how to control it? I didn't find any info about using this kind of configuration.

I'll be grateful for any advice or examples.
Thak you in advance.

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https://www.robot-forum.com/ro…ternal-axis-like-spindle/

thanks,
I have try to edit the machine.dat and change the $AXIS_TYPE[6]=5. and it works that I can turn the A6 endless manual with pad.
but how to do it with command line? what I need to do is move to a point. then turn the A6 only +7200 then -7200.

Hello

I have never tried to program with this infinite option.I do not need to program for axis 6 separately.Make a program, save a few points, manually with the rotation of axis 6 and start the porogram, then you will see how the robot will behave.

Hi

I am having the same problem.

I have a kl-1500 linear axis, and I have changed the soft limits. After changing the soft limits $softp_end[axle number] and $softn_end[axle number] I am no longer able to monitor the Cartesian position and orientation of the robot. If I change back the the older parameters, the position/and orientation can be monitored.

Is there any other variable that must be changed in order to change $softp_end[axle number] and $softn_end[axle number] ?

Cartesian position is only possible when robot is mastered and tool and base are selected

.