On 8/6/22 08:34, Nicklas SB Karlsson wrote:
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.
Maybe Nicklas, but one way to assure that is to "keep your candle under
a bushel."
So how about a link to the product, and let the market decide if it is a
better way.
Its almost by accident that I discovered these relatively new 3 phase
stepper/servo's, but
what they are doing for me so far has been nothing short of amazing.
They will get to within
the accuracy of the motors built-in encoder, or if they can't, they will
issue a fault to LinuxCNC
so fast I've not seen a mark on the materiel because the first thing
they do when they hit something
is turn off their own motors, and that lets them bounce away from the
work . Fix the problem, rehome
the machine, edit the code to start back up where it failed, and restart
the part. No scrap. Tested,
a lot, but they've the power to move the machine and I've had zero such
stoppages in actual use.
So show us what you have. Even if you aren't ready to put it in a flashy
box and ship it just yet. ;o)
Take care & stay well, Nicklas
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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Cheers, Gene Heskett.
--
"There are four boxes to be used in defense of liberty:
soap, ballot, jury, and ammo. Please use in that order."
-Ed Howdershelt (Author, 1940)
If we desire respect for the law, we must first make the law respectable.
- Louis D. Brandeis
Genes Web page <http://geneslinuxbox.net:6309/>
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