Manual
G-Code
Machine
Docs
Platform Pose (jog)
7th Axis — Rotary Head
The head is a turntable mounted on the moving platform. Its axis is the platform normal, so
W is
kinematically decoupled from the six legs — it never changes a leg length.View
Program
Transport
Compiled Blocks
Console
Joint Geometry
Base joint radius (mm)
Platform joint radius (mm)
Base pair separation (°)
Platform pair separation (°)
Actuators
Min length / retracted (mm)
Max length / extended (mm)
Limits
Ball-joint deflection max (°)
Leg-to-leg clearance (mm)
Rapid linear (mm/s)
Rapid rotary (°/s)
Head rapid (°/s)
1° ≡ n mm (feed blend)
Derived
Coordinate System
Datum (Z0) = fully retracted. All six legs at minimum length, platform parallel to the base.
Because no leg can shorten below that, every tilt or lateral move from Z0 is illegal — raise Z first.
The demo program does this on its second line.
| Item | Convention |
|---|---|
| Origin | Centre of the base joint circle, Z up |
| Platform point | Centre of the platform joint circle |
| X Y Z | Platform-centre translation, mm, from the retracted datum |
| A B C | Roll (X), Pitch (Y), Yaw (Z), degrees |
| Rotation order | Intrinsic Z-Y-X: R = Rz(C)·Ry(B)·Rx(A), about the platform centre |
| W | 7th axis: rotary head on the platform, spins about the platform normal, continuous |
| Solver | Inverse kinematics only (pose → 6 leg lengths) |
| Interpolation | Cartesian space — pose parameters interpolate linearly, leg lengths follow non-linearly |
Supported G-Code
| Code | Meaning |
|---|---|
G0 | Rapid move to pose. Ignores F; uses the rapid rates from the Machine tab. |
G1 | Feed move at F. Words: X Y Z A B C W F. |
G2/G3 | CW / CCW arc of the platform centre in the XY plane.
Centre given by I J (offset from start). Z A B C W interpolate linearly → helical/screw moves.
If the endpoint equals the start, a full 360° circle is produced. |
G4 P<s> | Dwell, seconds (P in ms also accepted if > 1000). |
G20/G21 | Inch / millimetre input. Angles are always degrees. |
G28 | Home: rapid to the fully-retracted datum, all axes zero. |
G90/G91 | Absolute / incremental. Applies to linear and angular words. |
G92 | Set work offset — redefines the current pose as the given values. |
M0 | Program pause (press Play to resume). |
M2/M30 | End of program. |
F | Feed, mm/min (modal). Rotary-only moves use F °/min scaled by the 1°≡n mm factor. |
; ( ) | Comments — to end of line, or bracketed. |
Feed blending: a block's duration is
max(d_lin, d_rot × k) / F where d_rot is the largest angular delta of A/B/C/W and
k is the "1° ≡ n mm" factor. This is the common vendor approach — there is no ratified hexapod
G-code standard, so this dialect is documented rather than assumed.Validation
Compiling samples 24 points along every block and rejects the program if any sample exceeds a leg stroke limit, a ball-joint deflection limit, or the leg-to-leg clearance. Offending block numbers are listed in the console and highlighted red.
Mouse
Drag = orbit · Wheel = zoom · Shift-drag or right-drag = pan.
OK
drag orbit · wheel zoom · shift-drag pan