How to edit mechanism axis after creation

Daper

Hello,

How can I change the rotation/translation axis of a mechanism after it has been created ?

In my case, I need to raise up a linear axis of a gantry system that holds a robot by 100 mm but I want to avoid rebuilding the mechanism from start.

And ideally if possible, I would like to shift all the associated targets of my path by 100 mm as well.

Can I do this ?

Ekhi

Hello @Daper
When a Mechanism is compiled, you can normally modify it.
Sometimes the modification is not allowed : 
- When an object is attached to the mechanism -> first remove all attachement
- Depending on the type : e.g Four Bar linkage can't be modified 

Daper

Hello @Ekhi ,

Thank you for your reply ! I have a 3-axis gantry system. Does it belong to a type on which the modification is not allowed ?

Ekhi

You should be able to modify it.
Make sure it is not connected to a library (rslib), or disconnect it.
Make sure to detach any object attached to the mechanism (e.g is the robot mounted on the gantry ?)
Also if it was built with e.g an older RS version it might block for modification.
Anyway if you just need to raise the mechanism by 100mm : it is much simpler to move the current gantry and update the calibration or baseframe.

Daper

Thank you a lot !