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Wrapped Rotary Axis Spec (draft)

This spec is based on behavior described on IRC by Stuart as being fairly standard among other controls. (However, I've probably got the details wrong. --JeffEpler)

1. Equivalent axis positions

All rotary axis positions of the form
    a + k*360
(a any number, k an integer) are equivalent positions. For example, all the following rotary axis positions are equivalent:
    ... -1050 -690 -330 30 390 750 1110 ...

2. inifile specification


Specifies that this axis is wrapped. In this case, there are no soft limits applied to the axis. Otherwise, the normal soft limits are applied as in emc2.2. If unspecified, defaults to 0. Should only be specified for axes 3, 4, 5 (corresponding to A, B and C)

3. Effect of rotary motion in wrapped rotary motion mode

When a rotary move is commanded, the sign ("+" or "-") of the axis word recorded. Then, any offsets in effect are added to the absolute value of this angle to give the commanded angle 'theta'.

4. FAQs

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Last edited May 26, 2014 11:35 pm by outpost.timeguy.com (diff)
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