83a87b046f
* Declare std::offsetPlane in KCL Signed-off-by: Nick Cameron <nrc@ncameron.org> * Use two axes to define planes in KCL Signed-off-by: Nick Cameron <nrc@ncameron.org> --------- Signed-off-by: Nick Cameron <nrc@ncameron.org>
56 lines
1.1 KiB
Plaintext
56 lines
1.1 KiB
Plaintext
// Global constants for the multi-axis robot
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// Set Units
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@settings(defaultLengthUnit = in)
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// Axis Angles
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export axisJ4 = 25deg
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export axisJ3 = 60deg
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export axisJ2 = 110deg
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export axisJ1 = 80deg
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// Robot Arm Base
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export basePlateRadius = 5
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export basePlateThickness = 0.5
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export baseChamfer = 2
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export baseHeight = 5
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// J2 Axis for Robot Arm
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export axisJ2ArmLength = 31
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export axisJ2ArmWidth = 4
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export axisJ2ArmThickness = 2.5
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// J3 Axis for Robot Arm
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export axisJ3C = axisJ3 - 180 + axisJ2
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export axisJ3CArmLength = 20
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export axisJ3CArmWidth = 3.75
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export axisJ3CArmThickness = 2.5
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// Planes
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export plane001 = {
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origin = [0.0, 0.0, baseHeight - 1.5 + 0.1],
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xAxis = [1.0, 0.0, 0.0],
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yAxis = [0.0, 1.0, 0.0]
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}
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export plane002 = {
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origin = [0.0, 0.0, 0.0],
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xAxis = [
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sin(axisJ1): number(in),
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cos(axisJ1): number(in),
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0.0
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],
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yAxis = [0.0, 0.0, 1.0]
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}
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// Define Plane to Move J2 Axis Robot Arm
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export plane003 = {
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origin = [-0.1, 0.0, 0.0],
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xAxis = [
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sin(axisJ1): number(in),
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cos(axisJ1): number(in),
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0.0
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],
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yAxis = [0.0, 0.0, 1.0]
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}
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