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Support for Four Axis SCARA Arms (Eg IRB910SC) #141

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Yadunund opened this issue Jul 26, 2022 · 0 comments · May be fixed by #142
Open

Support for Four Axis SCARA Arms (Eg IRB910SC) #141

Yadunund opened this issue Jul 26, 2022 · 0 comments · May be fixed by #142

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@Yadunund
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Hi @jontje and @gavanderhoorn ,

I'm interested in using the library to interface with a four axis ABB SCARA Robot IRB 910SC.

Looking at the BaseConfiguration struct, the only supported RobotAxes enums are None, Six and Seven.

I have the following questions:

  1. Is there a way to interface with the SCARA arm if I set axes to None?
  2. If not, is it possible to interface with the SCARA arm if I implement all the logic in egm_base_interface.cpp for a case Four? Before I attempt this, I want to check if its even possible to control the SCARA arm with this library.

Look forward to your response.
@Yadunund Yadunund linked a pull request Jul 28, 2022 that will close this issue
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Support Four Axes TCP Robots Yadunund/abb_libegm
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@Yadunund