may someone please review it and tear me a new one if there is a better
solution
or apply it if not.
Cheers,
Christian
From 09191a19eb8cdbaf480f310beeb9744f16f8bca3 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Christian=20St=C3=B6veken?= <christian.stoeve...@gmail.com>
Date: Wed, 20 May 2015 17:39:31 +0200
Subject: [PATCH 1/1] fixed re-homing error
(puma560 now ends up in the identical position
in vismach after re-homing)
appended 2 do in the config file
---
configs/sim/axis/vismach/puma/README | 7 +++++
configs/sim/axis/vismach/puma/puma560_sim_6.hal | 34 ++++++++++++++---------
2 files changed, 28 insertions(+), 13 deletions(-)
diff --git a/configs/sim/axis/vismach/puma/README b/configs/sim/axis/vismach/puma/README
index 09f27e0..fa5f4fc 100644
--- a/configs/sim/axis/vismach/puma/README
+++ b/configs/sim/axis/vismach/puma/README
@@ -15,3 +15,10 @@ Config file for a PUMA 560 type robot.
You need to specify what kinematics should get used (loadrt genserkins in your hal file)
If you change the HOME location in TRAJ, make sure you change the appropiate HOME locations of the AXES aswell, and make sure the position match (when run through the kinematics).
+
+2do
+-------------
+
+- separate PUMA and PUMA 560 in individual config dirs
+- fix the re-homing error for the PUMA robot (it ends up in different positions when homing consecutively)
+
diff --git a/configs/sim/axis/vismach/puma/puma560_sim_6.hal b/configs/sim/axis/vismach/puma/puma560_sim_6.hal
index da3fe22..746f5ea 100644
--- a/configs/sim/axis/vismach/puma/puma560_sim_6.hal
+++ b/configs/sim/axis/vismach/puma/puma560_sim_6.hal
@@ -9,21 +9,29 @@ addf motion-command-handler servo-thread
addf motion-controller servo-thread
# create HAL signals for position commands from motion module
-net J0pos <= axis.0.motor-pos-cmd
-net J1pos <= axis.1.motor-pos-cmd
-net J2pos <= axis.2.motor-pos-cmd
-net J3pos <= axis.3.motor-pos-cmd
-net J4pos <= axis.4.motor-pos-cmd
-net J5pos <= axis.5.motor-pos-cmd
-
+# output signals for LinuxCNC loopback
+net J0posL <= axis.0.motor-pos-cmd
+net J1posL <= axis.1.motor-pos-cmd
+net J2posL <= axis.2.motor-pos-cmd
+net J3posL <= axis.3.motor-pos-cmd
+net J4posL <= axis.4.motor-pos-cmd
+net J5posL <= axis.5.motor-pos-cmd
+
+# output signals for vismach (simulator)
+net J0pos <= axis.0.joint-pos-cmd
+net J1pos <= axis.1.joint-pos-cmd
+net J2pos <= axis.2.joint-pos-cmd
+net J3pos <= axis.3.joint-pos-cmd
+net J4pos <= axis.4.joint-pos-cmd
+net J5pos <= axis.5.joint-pos-cmd
# loop position commands back to motion module feedback
-net J0pos => axis.0.motor-pos-fb
-net J1pos => axis.1.motor-pos-fb
-net J2pos => axis.2.motor-pos-fb
-net J3pos => axis.3.motor-pos-fb
-net J4pos => axis.4.motor-pos-fb
-net J5pos => axis.5.motor-pos-fb
+net J0posL => axis.0.motor-pos-fb
+net J1posL => axis.1.motor-pos-fb
+net J2posL => axis.2.motor-pos-fb
+net J3posL => axis.3.motor-pos-fb
+net J4posL => axis.4.motor-pos-fb
+net J5posL => axis.5.motor-pos-fb
# estop loopback
net estop-loop iocontrol.0.user-enable-out iocontrol.0.emc-enable-in
--
1.7.0.4
------------------------------------------------------------------------------
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