[Emc-users] Hexapod questions

2007-03-29 Thread Eric H. Johnson
Hi all,

What is the maturity of the Hexapod configuration under EMC2? I have never
done anything with hexapods, but I was asked about the feasibility of using
EMC2 for implementing a control system for a hexapod. I have not seen the
actual unit, but what I have been told is that it is from a university lab,
is basically electrically and mechanically sound, but that they have never
managed to get the control system working.

Is the Hexapod configuration and kinematics (genhexkins) fairly universal,
or would there still be quite a bit to do to adapt to a specific
configuration / orientation? The readme in the hexapod sim configuration
references a Minitetra type. What is a minitetra type, and what other
types are there? The only orientation I am familiar with has three pairs of
axes centered 120 degrees from each-other. I was not aware of any other
orientations.

Also, from the standpoint of drivers, I believe the six motors are servo
motors. Can I use two Mesa m5i20 controllers with the servo FPGA
configuration for controlling the six axes? Is there any limitation in the
mesa driver which would not permit the use of two boards simultaneously?

Regards,
Eric



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Re: [Emc-users] Hexapod questions

2007-03-29 Thread John Kasunich
Eric H. Johnson wrote:
 Hi all,
 
 What is the maturity of the Hexapod configuration under EMC2? I have never
 done anything with hexapods, but I was asked about the feasibility of using
 EMC2 for implementing a control system for a hexapod. I have not seen the
 actual unit, but what I have been told is that it is from a university lab,
 is basically electrically and mechanically sound, but that they have never
 managed to get the control system working.

I'm sure it would not be a turnkey install but clever enough people 
could certainly get it working.  Things like homing will be the fun 
parts.  Basic hexapod kinematics are in there, and were used back in the 
NIST days.  They'd need some porting effort to interface with the newer
motion controller, but the tough math parts should be fine.

 Is the Hexapod configuration and kinematics (genhexkins) fairly universal,
 or would there still be quite a bit to do to adapt to a specific
 configuration / orientation? The readme in the hexapod sim configuration
 references a Minitetra type. What is a minitetra type, and what other
 types are there? The only orientation I am familiar with has three pairs of
 axes centered 120 degrees from each-other. I was not aware of any other
 orientations.

I think the different types have to do with whether the strut lengths 
vary, or the strut lengths are fixed and their attachment points move. 
(I think one of Till Franitza's hexapods used 6 parallel vertical 
slides, with one end of each strut attached to each slide, and the other 
end attached to the flying platform that held the spindle.  I did a 
quick google but can't find the info - he used to be at the Univ. of
Stuttgart, but appears to have moved on from there.

 Also, from the standpoint of drivers, I believe the six motors are servo
 motors. Can I use two Mesa m5i20 controllers with the servo FPGA
 configuration for controlling the six axes? Is there any limitation in the
 mesa driver which would not permit the use of two boards simultaneously?

I'm not entirely sure about the current driver, but I think it will 
handle multiple cards.  The new driver that I'm (slowly) working on will 
definitely handle more than one card.  It will also allow for a wider 
variety of stuff.  I'm sure a 6 axis servo configuration could be done 
with a single board and two 7i33 breakouts.  Depends on your time frame 
though, I got sidetracked into a bunch of emc2.1 stuff, and am only now 
getting back to the 5i20.  (I have some docs to write up tonight, then I 
hope to resume 5i20 work this evening.)

Regards,

John Kasunich


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Re: [Emc-users] Hard disk space

2007-03-29 Thread Kirk Wallace
CoolCNC should be pretty lean, but I see it is no longer listed on
linuxcnc.org. Here is a link:

http://cooltool.he.fdread.org/cncforum/index.php

I haven't used it much. I have used it when I didn't have access to my
own computer.

Kirk Wallace
~~
On Thu, 2007-03-29 at 11:44 -0500, Kyle wrote:
 John Kasunich wrote:
  Andy Holcomb wrote:
  How much HD space is required to install the live version?
 
  Three gigs or so...
  
  Regards,
  
  John Kasunich
  
 
 It's really too bad the LiveCD can't be trimmed down to better fit in a
 smaller space. Do I really need Office software and games on my EMC
 controller? I don't know the limits Ubuntu places on
 repackaging/repurposing their distribution though.
 
 Kyle
 
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Re: [Emc-users] Hard disk space

2007-03-29 Thread John Kasunich
Kyle wrote:
 John Kasunich wrote:
 Andy Holcomb wrote:
 How much HD space is required to install the live version?

 Three gigs or so...

 Regards,

 John Kasunich

 
 It's really too bad the LiveCD can't be trimmed down to better fit in a
 smaller space. Do I really need Office software and games on my EMC
 controller?

That is another of those can't possibly please everybody things.

These days, 3 gig is a very small hard disk (try buying anything
smaller than 40G at your local computer store).  Yes, it would be
possible to strip it down, but that means more effort for the guy
who builds the CD, and more difference between the CD and stock
Ubuntu.  We don't want to build and maintain a complete custom
distro, we just want to make it easy for folks to run EMC.  If we
keep it as close as possible to a stock distro, we minimize the
number of problems that come up.

The people who are most likely to really want a trimmed down distro
are also the kind of people who will never agree about exactly what 
should be on it.  Fortunately, they also tend to be the people who
can do the trimming themselves.

  I don't know the limits Ubuntu places on
  repackaging/repurposing their distribution though.

Ubuntu is almost entirely Free software.  Not free as in free beer,
but Free as in freedom.  Free software means you are free to change
it to suit your needs.  I think the only restriction is that you can't
call your extensively modified version Ubuntu.

Really small installs are a niche market.  We would be more than
happy to host an iso for a really light weight install if somebody
would contribute it.  But developer effort is a limited resource,
and most if it is going to be focused on more mainstream needs.


Regards,

John Kasunich

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[Emc-users] Hexapod questions

2007-03-29 Thread Peter G. Vavaroutsos
The current driver does support multiple cards. The 8-axis config should not
be that much work to support with the current driver. Depending on the
register map differences, it may be as simple as changing some defines that
determine the number of PWM and encoder channels.

~petev

-Original Message-
Message: 6
Date: Thu, 29 Mar 2007 07:43:16 -0700 (PDT)
From: Peter C. Wallace [EMAIL PROTECTED]
Subject: Re: [Emc-users] Hexapod questions
To: Enhanced Machine Controller (EMC)
emc-users@lists.sourceforge.net
Message-ID: [EMAIL PROTECTED]
Content-Type: TEXT/PLAIN; charset=US-ASCII; format=flowed

 Date: Thu, 29 Mar 2007 10:32:51 -0400
 From: John Kasunich [EMAIL PROTECTED]
 Reply-To: Enhanced Machine Controller (EMC)
 emc-users@lists.sourceforge.net
 To: Enhanced Machine Controller (EMC) emc-users@lists.sourceforge.net
 Subject: Re: [Emc-users] Hexapod questions

 Eric H. Johnson wrote:
 Hi all,

snip---


 I'm not entirely sure about the current driver, but I think it will
 handle multiple cards.  The new driver that I'm (slowly) working on will
 definitely handle more than one card.  It will also allow for a wider
 variety of stuff.  I'm sure a 6 axis servo configuration could be done
 with a single board and two 7i33 breakouts.  Depends on your time frame
 though, I got sidetracked into a bunch of emc2.1 stuff, and am only now
 getting back to the 5i20.  (I have some docs to write up tonight, then I
 hope to resume 5i20 work this evening.)

 Regards,

 John Kasunich


There are (existing style) configurations up to 8 Axis that _should_ be easy
for the current driver to support with some tweaks (PeterV?)

12 axis servo control will easily fit on one 5I20 card



Peter Wallace
Mesa Electronics

(\__/)
(='.'=) This is Bunny. Copy and paste bunny into your
()_() signature to help him gain world domination.


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No virus found in this outgoing message.
Checked by AVG Free Edition.
Version: 7.5.446 / Virus Database: 268.18.22/739 - Release Date: 3/29/2007
1:36 PM


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Re: [Emc-users] LPT address on EMC2

2007-03-29 Thread Kyle
Andy Holcomb wrote:
 Okay, I have tried all of the values I get from the lspci command and 
 non of them work; but, the factory port at 378 does work.
 
 the values I got were
 dc00
 d800
 d400
 d000
 cc00
 c800
 
  From what I remember on emc1 I had to use d000
 
 Andy
 
 
 
 Chris Radek wrote:
 On Wed, Mar 28, 2007 at 12:59:17PM -0500, Andy Holcomb wrote:
 Remind me again how to find the address of the lpt ports.
 Where do I make this change of address?
 http://wiki.linuxcnc.org/cgi-bin/emcinfo.pl?NetMos



I was doing a bit of research and noticed a couple things. First, if one
is searching for something as mentioned in the wiki page above you could
use lspci -v | grep searchstring -A num ... searchstring being the
actual string one is looking for and num being the number of lines
following the string once it is located. Second, I admit I don't have
one of these cards yet, but I was curious as to how the port was
experimented with. Did the person just hook up to the parallel port and
change the I/O port number until they got a reaction at the output of
the port?

Kyle

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Re: [Emc-users] Hard disk space

2007-03-29 Thread Kyle
John Kasunich wrote:
 Kyle wrote:
 John Kasunich wrote:
 Andy Holcomb wrote:
 How much HD space is required to install the live version?

 Three gigs or so...

 Regards,

 John Kasunich

 It's really too bad the LiveCD can't be trimmed down to better fit in a
 smaller space. Do I really need Office software and games on my EMC
 controller?
 
 That is another of those can't possibly please everybody things.
 
 These days, 3 gig is a very small hard disk (try buying anything
 smaller than 40G at your local computer store).  Yes, it would be
 possible to strip it down, but that means more effort for the guy
 who builds the CD, and more difference between the CD and stock
 Ubuntu.  We don't want to build and maintain a complete custom
 distro, we just want to make it easy for folks to run EMC.  If we
 keep it as close as possible to a stock distro, we minimize the
 number of problems that come up.
 
 The people who are most likely to really want a trimmed down distro
 are also the kind of people who will never agree about exactly what 
 should be on it.  Fortunately, they also tend to be the people who
 can do the trimming themselves.
 
   I don't know the limits Ubuntu places on
   repackaging/repurposing their distribution though.
 
 Ubuntu is almost entirely Free software.  Not free as in free beer,
 but Free as in freedom.  Free software means you are free to change
 it to suit your needs.  I think the only restriction is that you can't
 call your extensively modified version Ubuntu.
 
 Really small installs are a niche market.  We would be more than
 happy to host an iso for a really light weight install if somebody
 would contribute it.  But developer effort is a limited resource,
 and most if it is going to be focused on more mainstream needs.
 
 
 Regards,
 
 John Kasunich
 

I appreciate the replies. I currently have a very hard drive constricted
setup. I have 4 free computers and I had to use two drives to get EMC to
install. I also understand most drives are larger these days, you can't
please everyone, and there are more important things to worry about than
install size of a distro such as the work you guys do to improve EMC.

Kyle

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Re: [Emc-users] Hexapod questions

2007-03-29 Thread Eric H. Johnson
John, 

 I'm sure it would not be a turnkey install but clever 
 enough people could certainly get it working.  Things like 
 homing will be the fun 
 parts.  Basic hexapod kinematics are in there, and were used 
 back in the NIST days.  They'd need some porting effort to 
 interface with the newer motion controller, but the tough 
 math parts should be fine.

Do you have any idea of what and how involved porting of kinematics will be?
And ported from where, EMC1 or the original NIST code? Do you know if anyone
has actually tried to do a hexapod with EMC2?

I am just trying to get a feel for what I may be getting myself into here.
:)

 I'm not entirely sure about the current driver, but I think 
 it will handle multiple cards.  The new driver that I'm 
 (slowly) working on will definitely handle more than one 
 card.  It will also allow for a wider variety of stuff.  
 I'm sure a 6 axis servo configuration could be done with a 
 single board and two 7i33 breakouts.  Depends on your time 
 frame though, I got sidetracked into a bunch of emc2.1 stuff, 
 and am only now getting back to the 5i20.  (I have some docs 
 to write up tonight, then I hope to resume 5i20 work this evening.)

Yea, I am really interested in that too, and if it is ready would probably
be the way to go, because otherwise I think I there is sufficient I/O on a
single m5i20.

If I can give you a hand either with testing the driver, or if there is some
part you would like to split off, please let me know. I currently have a
system configured with an m5i20 available. I also have the Xilinx software
loaded on another machine, although I have not gotten very far in playing
with it.

Regards,
Eric


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[Emc-users] Obsolete header file

2007-03-29 Thread Rick Jenkins
I'm an EMC newbie, and tried to compile my first emc-2.1.14 under the 
2.6.20.3 kernel. The compile fails with numerous errors in proc_fs.h.

I duly reported the bug to Gentoo, and was told:

/usr/include/linux/proc_fs.h is no longer installed with 
=linux-headers-2.6.19

It therefore seems that the code needs to be updated to compile under late 
kernels. Is there a workaround for this, short of backdating my kernel?
-- 
Rick Jenkins [EMAIL PROTECTED]
Hartman Technica   http://www.hartmantech.com 
Phone +1 (403) 230-1987
221 35 Avenue. N.E., Calgary, Alberta, Canada T2E 2K5

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[Emc-users] Wireless adapter dlink usb

2007-03-29 Thread Andy Holcomb
I have a dlink DWLG120 usb wireless adapter

I have Emc2 2.1.0  installed from the live cd

Can I install this adapter on the system?  If so how do I do it?  

Andy

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Re: [Emc-users] Obsolete header file

2007-03-29 Thread Jeff Epler
Apply this patch, which is not included on the emc 2.1 branch:
http://cvs.linuxcnc.org/cgi-bin/cvsweb.cgi/emc2/src/hal/hal_lib.c.diff?r1=1.52;r2=1.53

Jeff

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Re: [Emc-users] Obsolete header file

2007-03-29 Thread John Kasunich
Rick Jenkins wrote:
 I'm an EMC newbie, and tried to compile my first emc-2.1.14 under the 
 2.6.20.3 kernel. The compile fails with numerous errors in proc_fs.h.
 
 I duly reported the bug to Gentoo, and was told:
 
 /usr/include/linux/proc_fs.h is no longer installed with 
 =linux-headers-2.6.19
 
 It therefore seems that the code needs to be updated to compile under late 
 kernels. Is there a workaround for this, short of backdating my kernel?

Are you compiling for realtime?  (required if you want to run a machine)
Or are you compiling the non-realtime simulator?

If for the simulator, the patch that Jeff supplied should solve the 
problem.  If you are trying to compile for realtime, I don't think the 
patch will do anything.  If the kernel folks have removed that header
from the kernel itself, then we do indeed have some catching up to do.
(But I doubt that is the case.)

Regards,

John Kasunich


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Re: [Emc-users] increment doesn't change

2007-03-29 Thread Jeff Epler
Thank you for your report.

I can also reproduce the problem.  I filed a report on sourceforge with
a proposed patch

https://sourceforge.net/tracker/index.php?func=detailaid=1690950group_id=6744atid=106744
but I will leave it to someone who knows more about tkemc to test it and
actually add it to a future release of emc2.

Jeff

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[Emc-users] Abort messes up position

2007-03-29 Thread Andy Holcomb
Ok, I am having an issue, it has done it to me twice now. I have the 
machine all setup as in the position of x y and z, I start to run my 
code and realize I might have an issue with my code so I click the pause 
button on the TKEMC screen, I verify it really is a proplem and I click 
the abort button.  I removed fixture screw that I was going to hit and 
started the code again.  The spindle promptly moves up about 2 or three 
inches and resets it zero position. My x and y axis also reset zero 
positions also I think by about .5 inches or so.

It has done it to me on two different programs, I am not using any 
offsets  or other modes and no tool code.  Just straight code.
I can't remember if I paused the first time, I know I did the second time.

This is a brand new install of Emc2 2.1.0 form the live download, I have 
installed it on to the computer. Now that I think about it, it did it on 
chips3d also, I just hit abort on that though. I didn't have the 
position right so I aborted, I reset the postions and pressed run, it 
promptly moved y down( I think) by about 2 inches and started in the 
wrong spot again.

Is this just me?

Andy

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Re: [Emc-users] Abort messes up position

2007-03-29 Thread Andy Holcomb
I forgot to say, and it may be a factor, all times I have axis over 
speed set to 300%

Andy

Andy Holcomb wrote:
 Ok, I am having an issue, it has done it to me twice now. I have the 
 machine all setup as in the position of x y and z, I start to run my 
 code and realize I might have an issue with my code so I click the pause 
 button on the TKEMC screen, I verify it really is a proplem and I click 
 the abort button.  I removed fixture screw that I was going to hit and 
 started the code again.  The spindle promptly moves up about 2 or three 
 inches and resets it zero position. My x and y axis also reset zero 
 positions also I think by about .5 inches or so.

 It has done it to me on two different programs, I am not using any 
 offsets  or other modes and no tool code.  Just straight code.
 I can't remember if I paused the first time, I know I did the second time.

 This is a brand new install of Emc2 2.1.0 form the live download, I have 
 installed it on to the computer. Now that I think about it, it did it on 
 chips3d also, I just hit abort on that though. I didn't have the 
 position right so I aborted, I reset the postions and pressed run, it 
 promptly moved y down( I think) by about 2 inches and started in the 
 wrong spot again.

 Is this just me?

 Andy

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Re: [Emc-users] LPT address on EMC2

2007-03-29 Thread andyholcomb
Kyle wrote:

Andy Holcomb wrote:
  

Okay, I have tried all of the values I get from the lspci command and 
non of them work; but, the factory port at 378 does work.

the values I got were
dc00
d800
d400
d000
cc00
c800

 From what I remember on emc1 I had to use d000

Andy



Chris Radek wrote:


On Wed, Mar 28, 2007 at 12:59:17PM -0500, Andy Holcomb wrote:
  

Remind me again how to find the address of the lpt ports.
Where do I make this change of address?


http://wiki.linuxcnc.org/cgi-bin/emcinfo.pl?NetMos


  


I was doing a bit of research and noticed a couple things. First, if one
is searching for something as mentioned in the wiki page above you could
use lspci -v | grep searchstring -A num ... searchstring being the
actual string one is looking for and num being the number of lines
following the string once it is located. Second, I admit I don't have
one of these cards yet, but I was curious as to how the port was
experimented with. Did the person just hook up to the parallel port and
change the I/O port number until they got a reaction at the output of
the port?

Kyle


  

Yes, normally I hooked it up tp the mill put it in manual mode and told 
it to move, if it moved I had the right address, if it didn't I changed 
the address and repeated the process
but none of the addresses worked under EMC2 but it did in EMC1. 


Andy

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Re: [Emc-users] LPT address on EMC2

2007-03-29 Thread Thomas Fritz
Kyle wrote:
 Andy Holcomb wrote:
   
 Okay, I have tried all of the values I get from the lspci command and 
 non of them work; but, the factory port at 378 does work.

 the values I got were
 dc00
 d800
 d400
 d000
 cc00
 c800

  From what I remember on emc1 I had to use d000

 Andy



 Chris Radek wrote:
 
 On Wed, Mar 28, 2007 at 12:59:17PM -0500, Andy Holcomb wrote:
   
 Remind me again how to find the address of the lpt ports.
 Where do I make this change of address?
 
 http://wiki.linuxcnc.org/cgi-bin/emcinfo.pl?NetMos


   

 I was doing a bit of research and noticed a couple things. First, if one
 is searching for something as mentioned in the wiki page above you could
 use lspci -v | grep searchstring -A num ... searchstring being the
 actual string one is looking for and num being the number of lines
 following the string once it is located. Second, I admit I don't have
 one of these cards yet, but I was curious as to how the port was
 experimented with. Did the person just hook up to the parallel port and
 change the I/O port number until they got a reaction at the output of
 the port?

 Kyle

   
That was me, and yes that's how I did it.

Since there was nothing that could be 'hurt' - I was simply trying out
Netmos parport cards, hooked to a Xylotex driver and stepper, no machine
involved - I just tried the different addresses listed by `lspci -v`,
until I found the ones that worked.



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Re: [Emc-users] LPT address on EMC2

2007-03-29 Thread andyholcomb
I just found one of my old emc.ini files and I have

; Address for parallel port used for steppers
; IO_BASE_ADDRESS =0x378
 IO_BASE_ADDRESS =0xa800

I am not at the location of the machine, but I am wondering if I am 
blind and took an a for a c

I'll let you know tomorrow.

Andy




Andy Holcomb wrote:

Okay, I have tried all of the values I get from the lspci command and 
non of them work; but, the factory port at 378 does work.

the values I got were
dc00
d800
d400
d000
cc00
c800

 From what I remember on emc1 I had to use d000

Andy



Chris Radek wrote:
  

On Wed, Mar 28, 2007 at 12:59:17PM -0500, Andy Holcomb wrote:


Remind me again how to find the address of the lpt ports.
Where do I make this change of address?
  

http://wiki.linuxcnc.org/cgi-bin/emcinfo.pl?NetMos


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[Emc-users] wired pause button?

2007-03-29 Thread andyholcomb
Is there a way I can make a wired pause button?  if so how?

I want a big button I can push when I think something is wrong with my 
code :-)

Andy

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[Emc-users] rtai_smi question

2007-03-29 Thread Thomas Fritz
I'm setting up a computer - an NEC Powermate 2000 with 1000MHz Pentium3, 
using the ubuntu-emc2 livecd, and the latest apt update of emc2.

Now, I've gotten so far, and I've even read and used the information at:

http://wiki.linuxcnc.org/cgi-bin/emcinfo.pl?FixingDapperSMIIssues

However, just copying the SMI module doesn't fix anything, I still get 
SMI problems when I run EMC.

If I run 'setsmi' - after futzing around with adding the /usr/realtime 
directory to my PATH's - it's fixed, and all is sweetness and light.

Until I reboot.

What I'd like to know:  Is there someplace to add into EMC configuration 
a line to load rtai_smi.ko?  If not, where?  I've just tried putting a 
line in rc.local, and that didn't work - setsmi not found.

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Re: [Emc-users] Wireless adapter dlink usb

2007-03-29 Thread andyholcomb
Thanks Sam,
I did find this page http://ubuntuforums.org/showthread.php?t=202905, I 
will work some more on it tomorrow and let you know.

Andy


Sam Sokolik wrote:

I don't know if any one here can help you...  I would search and ask here

http://ubuntuforums.org/

On a side note - I have had usb devices cause rt latency issues on certain 
motherboards.

sam
- Original Message - 
From: Andy Holcomb [EMAIL PROTECTED]
To: Enhanced Machine Controller (EMC) emc-users@lists.sourceforge.net
Sent: Thursday, March 29, 2007 3:06 PM
Subject: [Emc-users] Wireless adapter dlink usb


  

I have a dlink DWLG120 usb wireless adapter

I have Emc2 2.1.0  installed from the live cd

Can I install this adapter on the system?  If so how do I do it?

Andy

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Re: [Emc-users] Hard disk space

2007-03-29 Thread David A. Frantz
Games can come or go but if the time comes that one needs to trim the 
space on the CD I would hope that the office programs stayed around for 
a bit.   There are numerous uses for office apps in the modern shop.


Dave

Kyle wrote:
 John Kasunich wrote:
   
 Andy Holcomb wrote:
 
 How much HD space is required to install the live version?

   
 Three gigs or so...

 Regards,

 John Kasunich

 

 It's really too bad the LiveCD can't be trimmed down to better fit in a
 smaller space. Do I really need Office software and games on my EMC
 controller? I don't know the limits Ubuntu places on
 repackaging/repurposing their distribution though.

 Kyle

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Re: [Emc-users] wired pause button?

2007-03-29 Thread Alex Joni
http://www.linuxcnc.org/docs/2.1/html/gui/halui/index.html

you can connect 2 buttons to halui.program.pause and 
halui.program.resume

Regards,
Alex

- Original Message - 
From: andyholcomb [EMAIL PROTECTED]
To: Enhanced Machine Controller (EMC) 
emc-users@lists.sourceforge.net
Sent: Friday, March 30, 2007 8:16 AM
Subject: [Emc-users] wired pause button?


 Is there a way I can make a wired pause button?  if so how?

 I want a big button I can push when I think something is wrong with 
 my
 code :-)

 Andy

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