Il 17/09/2010 01:29, Andy Pugh ha scritto: > On 15 September 2010 18:24, Spiderdab<77...@tiscali.it> wrote: > >> hallo, in my inverted tetrapod i've set the 4 axis as: X Y Z A, in this way: >> > > At the moment that seems to be the only way to get 4 working joints, > even on a 3-axis machine like yours. > I tried setting up 3 axes in the INI and 4 joints in the HAL file, but > the axis.3.pos-cmd pins don't change that way. > > There is a plan to change this, and a part-completed emc2 branch > called ja3 which will fix this problem, but it is not ready to be used > yet. > > >> but in EMC2 i jog X Y Z with the normal jog speed, then the A with the >> spindle speed. >> > This seems very odd. I would expect you to be jogging joints 0,1,2,3 > and they should all jog at the linear jog speed, as they are defined > as linear axes in the ini. > However I have just checked it and you are completely correct. I think > that is a bug. > > >> i know EMC2 is not meant for tetrapod, but which is the best way to set >> up axis? >> > I think you might have it already, I have so-far failed to come up > with a better setup. > > >> i've tryed using XYZU, but i have problems homing. i can home in some >> way (using the menu) but when i change to world mode it says that first >> i've to home all axis. >> > You will always need to home the system anyway (the easiest way is > probably with all wires pulled all the way out) otherwise emc will > solve the kinematics wrong as it won't know where it is. > > I have managed to get an XYZU working by creating an [AXIS_6] stanza > identical to [AXIS_3] and defining [TRAJ] AXES=7 and [TRAJ] GEOMETRY=X > Y Z U. > > That does at least get round the issue of having to control joint3 > with the angular speed slider. (which actually disappears then) > > >> another question: >> i can jog directly the first three axis, using arrows and pgup/down. how >> can i jog the fourth axis? >> > You should be able to press the axis letter and use the + and - > keyboard keys or onscreen buttons. > > Andy, thanks a lot. having this confirmations makes me feel better. all these questions came to my mind, because axis3 was the only joint to loose some step while moving alltogether. but since i had also mechanical problems, today and tomorrow i'll solve those one, then i'm changing also all my set of cables. (since i need 10mt long cables to motors, i'm going to use a 4wires-0.5mm plus shield cable, with shield wired on ground of driver board, and 4-pins-XLR connectors.)
then on mondey morning i'm going to setup the final show. it's the opening show of italian volleyball cup. i've 4 girls linked (hanged) at 15mt height, and they should 'play' volleyball with the EMC2-controlled ball!! all hanged on a GRU (i don't know the name,maybe mobile-crane..) that's my job.. so i can wish in the new version of emc2 to solve a better difference from JOINTS and WORLD AXES. for example i think (like is said in the docs) that naming joints XYZABCUVW is not correct. maybe the right way can be joints 1-9 and one can say wether they are parallel to XYZ or spin around XYZ, or if they have their own kinematics. thanks again. ------------------------------------------------------------------------------ Start uncovering the many advantages of virtual appliances and start using them to simplify application deployment and accelerate your shift to cloud computing. http://p.sf.net/sfu/novell-sfdev2dev _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
