#MASTERCAM X4 TOOL WITHOUT TIP RADIUS CODE#
The autonomous homing is a nice feature for many types of machines, but most CNC controllers will “expect” to handle the homing process, so you may find the User Seeks Home option easier to code for. In case it wasn’t already mentioned, you can use ClearPath’s “Precision Homing” feature in conjunction with the “User Seeks Home” option to allow your controller to control the homing instead of allowing ClearPath to home autonomously. I’m an engineer at Teknic, and I saw your post. You can jog multiple joints in joint-mode and/or jog multiple axis in 'axis-mode' It doesn't matter how many joints (motors) or axis move. So after thinking I understand joint and coordinated moves/jogging, I discover I actually don't! (I changed my last post to clarify)Īs I have managed to get the jog to work on my setup after homing, with the HAL file as I posted, and without those HAL statements posted by Andy, what Mode am I actually jogging in? You indicate it is in coordinated mode, but if I jog, its only ONE axis that moves, which is 'joint mode'. Maybe 'coordinated mode' is not the correct term so lets say 'axis-mode' because the coordination you mention actually comes from the motion planner. Now if you wish to move the tool tip from a point in 3D space to a new point in 3D space, you have to move ( probably) every joint in the arm to get the tool tip there, in a specific orientation, AND ALONG A SPECIFIC PATH - That is a coordinated move. So if you jog that motor (joint.) the whole arm rotates, and the tool at the very end of the arm simple rotates around that joint's axis, in a radius equal to the tool tip distance from the joints vertical axis.