I'm working on a 5 axis pick and place machine. There is basically a XYZ coordinate and 2 angles that should make the machine move to the requested position. Its ok if the ABC axis show some movement error in timing, as long as they arrive at the good position, before the machine traverse to the next line of code.
From understating this line:
NOTE that the parameters passed into A B or C in a G0 or G1 are raw, they do not go through the arm solution, they are the values that will be passed to the stepper based on steps_per_mm for that axis (although it may be interpreted as steps per degree for instance).
So the ABC axis are not taking part in the arm solution, BUT can I use the ABC value's in the kinematics section to make the right offsets based on the ABC value's?
If i understand correctly, it might not make Axis B arrive at the same time as the axis that take part of the arm solution calculations (XYZ), but it would still end up in the proper location.
Is the above correct?
PS, I love to do the maths for the kinematics part, but I'm little blow away from all the code. I can program C/C++, but if at some point someone would like assist that would be great.