6 axis articulated robot. Its 5th and 6th joint motion is transferred from servo motor to the end by belts. Controlling 1-5 joints is trivial, but 6th one has to be offset by 5th position.
This means you have to rotate both 5th and 6th motors equally to move only 5th joint. ( BTW, this is the reason why I started to think that there could be three different objects / levels in linuxcnc: motor - joint - axis ) There are resolvers on the motors and I use 7i49 card to read them. I am using genserkins for world mode and an offset component for offsetting 6th motor position and feedback signals in relation from 5th motor position signal. And it works correctly, except for homing, but I can't figure out how it _normally_ works. My homing uses resolver index. The problem is that I get following errors even when MIN_FERROR is 60 degrees. And I see that resolver position feedback signal makes a step when homing. I do see that big steps happen in resolver feedback signals, when they approach index. But the same is with normal joints. Any ideas how to solve this? I know I could do this in kins, but I would like to be able to use standard genserkins. Some lines from my config (joint / motor components and signals are numbered from 0): .hal file: ----------------------------------------------------------- loadrt offset names=offset-j56 addf offset-j56.update-feedback servo-thread addf offset-j56.update-output servo-thread net mot.4.pos-cmd joint.4.motor-pos-cmd => pid.4.command offset-j56.offset net mot.4.index-enable pid.4.index-enable net mot.4.index-enable joint.4.index-enable <=> [HM2](BRD)resolver.04.index-enable net mot.5.pos-cmd offset-j56.out => pid.5.command net mot.5.pos-fb => offset-j56.fb-in pid.5.feedback [HM2](BRD)resolver.05.position net jnt.5.pos-cmd joint.5.motor-pos-cmd => offset-j56.in net jnt.5.pos-fb offset-j56.fb-out joint.5.motor-pos-fb net mot.5.index-enable pid.5.index-enable net mot.5.index-enable joint.5.index-enable <=> [HM2](BRD)resolver.05.index-enable ------------------------------------------------------------------------------ Rapidly troubleshoot problems before they affect your business. Most IT organizations don't have a clear picture of how application performance affects their revenue. With AppDynamics, you get 100% visibility into your Java,.NET, & PHP application. Start your 15-day FREE TRIAL of AppDynamics Pro! http://pubads.g.doubleclick.net/gampad/clk?id=84349831&iu=/4140/ostg.clktrk _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
