Create a workobject for the positioner. In the workobject definition, "Allow move by mechunit" (more or less what it says) put in the name of the positioner mechanical unit. Use that workobject when you need coordinated motion.
That assumes that he's got a configuration for a 2-axis positioner and not just two MTD's loaded from the template files.
Which size MTD's are you using and what style positioner have you built ?
Skyhook / IRBP-A or more of a tilt table ?
Display MoreThat assumes that he's got a configuration for a 2-axis positioner and not just two MTD's loaded from the template files.
Which size MTD's are you using and what style positioner have you built ?
Skyhook / IRBP-A or more of a tilt table ?
Hello Saaboholic,
You are correct, robots did not come from the factory with the 2-axis configuration. The mechanical configuration is a skyhook.
And which MTD's are you using ? 2000/600 ?
Below is the basics... you need to define it as a robot of type "IRBP_A" and link the joints to that new robot.
See PM for complete MOC file for your system.
Arm type calibration/values will change once you redefine the baseframe for each axis.
MOC:CFG_1.0:6:0::
#
MECHANICAL_UNIT:
-name "STN1" -use_activation_relay "" -use_brake_relay ""\
-use_robot "STN1" -allow_move_of_user_frame -activate_at_start_up
#
ROBOT:
-name "STN1" -use_robot_type "STN1" -use_joint_0 "M7DM1"\
-use_joint_1 "M8DM1"
#
ROBOT_TYPE:
-name "STN1" -type "IRBP_A" -error_model "ERROR" -no_of_joints 2\
-par_id_type "irbp_a"
#
#
ARM_TYPE:
-name "M7DM1" -independent_move_off -attitude 1.5708\
-rot_axis_pose_pos_x 2.222 -rot_axis_pose_pos_z 1.1\
-rot_axis_pose_orient_u0 0.684337 -rot_axis_pose_orient_u1 -0.177995\
-rot_axis_pose_orient_u2 -0.684337 -rot_axis_pose_orient_u3 0.177995
-name "M8DM1" -length 0.36841 -offset_z 0.20931 -attitude 1.5708\
-rot_axis_pose_pos_x 1.5 -rot_axis_pose_pos_y -0.081259\
-rot_axis_pose_pos_z 0.954358 -rot_axis_pose_orient_u0 0.399648\
-rot_axis_pose_orient_u1 -0.103946 -rot_axis_pose_orient_u2 0.229255\
-rot_axis_pose_orient_u3 0.88143
