Spent maybe a full minute or two looking into manual for the mecademic
robot. If robot have builtin position controller adding a second one on
top in Linuxcnc is most certainly no good idea.
Driver cards I am developing is useful on old machine with non working
electronics. Guess it is hopeless co compete with large companies on new
products manufactured in large series.
Nicklas Karlsson
Den 2022-08-02 kl. 17:15, skrev David (J) Smith:
Hi!
I have tried running the auto PID module - at_pid
However after work the joints seem to continually bounce and wobble 1 or two
degrees with the resulting settings from
setp pid.j0.tune-effort 0.1
setp pid.j0.tune-mode 1
setp pid.j0.tune-type 0
setp pid.j0.tune-start 1
https://github.com/djsftree/linuxcnc_meca500/tree/main/linuxcnc/configs/min-meca500
Is there anyone available to briefly review my ini file ?
Best regards,
David Smith
-----Original Message-----
From: David (J) Smith <d...@fathomtreeltd.com>
Sent: 29 July 2022 16:27
To: emc-developers@lists.sourceforge.net
Subject: [Emc-developers] custom homing comp for meca500 ethercat robot
Hi!
I’m working on an internal project involving the Mecademic Meca500 6 axis robot
https://www.mecademic.com/en/meca500-robot-arm
Is there anyone on the mailing list that is available for linuxcnc development
/ contract work?
Here’s some useful links so far
Cyclic data that can be sent to the robot
https://cdn.mecademic.com/uploads/docs/meca500-r3-programming-manual-8-4.pdf#subsection.3.4
Cyclic data received from the robot
https://cdn.mecademic.com/uploads/docs/meca500-r3-programming-manual-8-4.pdf#subsection.3.5
Communicating over ethercat
https://cdn.mecademic.com/uploads/docs/meca500-r3-programming-manual-8-4.pdf#section.4
ethercat XML file
https://github.com/djsftree/linuxcnc_meca500/blob/main/linuxcnc/configs/meca500/meca500-ethercat.xml
custom homing comp skeleton
https://github.com/djsftree/linuxcnc_meca500/blob/main/linuxcnc/configs/meca500/meca500_homing.comp
I would welcome a review of the initial skeleton code and any suggestions to
the potential homing architecture.
The robot has its own internal mechanism for homing once the robot is activated.
-- set
ctrl.activate 1
ctrl.deactivate 0
-- wait for
status.activated 1
status.busy 0
-- set
ctrl.home 1
j0, j1, j2 rotate 3.6deg
j3, j4 rotate 7.2deg
j5 rotates 12deg
this procedures takes 3 seconds to complete
joint position during homing is available on ethercat encoder.a1 thru a6
-- wait for
status.homed 1
status.busy 0
-- homed and ready to accept motion commands
Best regards,
David Smith
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