14 lines
505 B
Plaintext
14 lines
505 B
Plaintext
#- Slave axes (normally physical/real axes): AX_S1, AX_S2
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var SLAVE_AXES[2] := {ax${AX_S1}.enc.actpos, ax${AX_S2}.enc.actpos};
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#- Master axes (normally virtual axes): AX_M1, AX_M2
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var MASTER_AXES[2] := {ax${AX_M1}.traj.setpos, ax${AX_M2}.traj.setpos};
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#- forward kinematics
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ax${AX_M1}.enc.actpos := dot(FWD1, SLAVE_AXES);
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ax${AX_M2}.enc.actpos := dot(FWD2, SLAVE_AXES);
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#- inverse kinematics
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ax${AX_S1}.traj.extsetpos := dot(INV1, MASTER_AXES);
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ax${AX_S2}.traj.extsetpos := dot(INV2, MASTER_AXES);
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