On Sunday, April 03, 2011 05:04:41 PM Andrew did opine: > Thank you, Gene! > > The fact, that 2 periods per step not needed any more, makes it clear. > Generally, the motors already moving, but I started looking through > manuals and run into these things that confused me. > I could see that. ;)
> My machine is hexapod. The only video for now is > http://www.youtube.com/watch?v=MTPkw5BNmVw Kewl! > . There's no picture of whole > machine yet, the platform (now without the main spindle) is on the > video, and this is a couple of upper joints > http://img717.imageshack.us/img717/8437/19833881.jpg . The nuts are > driven by motors, but they are hidden behind the joints here, this is > the inside view. No home switches yet, no ESTOP buttons etc. Of course, > more fotos and videos coming. > > The config files are based on Stepconf output, with base period 16500 > ns. First configs failed, the computer just hung after the machine > switched on. I increased the base period to 35000, and made other > changes, and it start working. 35000 is only 150 mm/s, I'd like it to > be 300 mm/s. Generally with that fast a base period, the computer needs to be a real rip-snorter. 35000 has my old 1.6 Ghz clocked XP-1400 Athlon box pretty well tapped out. > The large problem for parallel machines in EMC2 is that joints have > limits, but not the end effector. Thus the platform can occasionally > run into the table, as you can see on the video. > Setting workspace limits would be great. Is it possible to connect to > EMC2 some module that wouldn't let the platform move to forbidden zone, > or run out of joints limits? The math for this is known. That is a question for the real guru's here, I'm just an old retired (most of the time) tv engineer whose main claim to fame is a C.E.T. card in my billfold that will be 40 years old next year. That, and a buck thirty five, will get you a cup to go at the nearest 7/11. ;-) BTW, we are in favor of inline or bottom posting here. ;) -- Cheers, Gene "There are four boxes to be used in defense of liberty: soap, ballot, jury, and ammo. Please use in that order." -Ed Howdershelt (Author) <http://tinyurl.com/ddg5bz> <http://www.cantrip.org/gatto.html> People who claim they don't let little things bother them have never slept in a room with a single mosquito. ------------------------------------------------------------------------------ Create and publish websites with WebMatrix Use the most popular FREE web apps or write code yourself; WebMatrix provides all the features you need to develop and publish your website. http://p.sf.net/sfu/ms-webmatrix-sf _______________________________________________ Emc-users mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-users
