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ros-industrial / abb_libegm

A C++ library for interfacing with ABB robot controllers supporting Externally Guided Motion (689-1)
BSD 3-Clause "New" or "Revised" License
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Support for Four Axis SCARA Arms (Eg IRB910SC) #141

Open Yadunund opened 2 years ago

Yadunund commented 2 years ago

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.