Re: [Emc-users] Performance/Features of LinuxCNC compared to Kuka KRC2
Florian, have you concidered using the Orocos project? http://www.orocos.org/ I don't know how usefull it is, but it's more aimed at the use for robots than LinuxCNC... regards, Jan -- Master Visual Studio, SharePoint, SQL, ASP.NET, C# 2012, HTML5, CSS, MVC, Windows 8 Apps, JavaScript and much more. Keep your skills current with LearnDevNow - 3,200 step-by-step video tutorials by Microsoft MVPs and experts. SALE $99.99 this month only -- learn more at: http://p.sf.net/sfu/learnmore_122412 ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] The Ideal Tool Table
Andy, Maybe you could use this geometry: http://ars.els-cdn.com/content/image/1-s2.0-S0890695501000451-gr1.jpg This results in different possible tool shapes: http://ars.els-cdn.com/content/image/1-s2.0-S0890695501000451-gr2.gif from: http://www.sciencedirect.com/science/article/pii/S0890695501000451 Regards, Jan -- LogMeIn Central: Instant, anywhere, Remote PC access and management. Stay in control, update software, and manage PCs from one command center Diagnose problems and improve visibility into emerging IT issues Automate, monitor and manage. Do more in less time with Central http://p.sf.net/sfu/logmein12331_d2d ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] OT: Fwd Kinematics Equation
Alex, Your code has successfully driven my (not simulated) Puma560, I'm having problems with the speed/accel. limitations (as they are axis limits, not joint limits) The only solution I have a.t.m. is to reduce the overall speed so no joint limits are reached (works if no singularities come to close) Regards, Jan On Fri, Jul 23, 2010 at 19:04, Alex Joni wrote: > This is "easily" handled by genserkins. > genserkins = general serial kinematics (e.g. kins where each joint is > serially connected to the previous one). > > PS: bear in mind that I added genserkins recently to emc2 and that it > hasn't driven a physical robot yet (afaik). so there can be bugs (or > dragons or whatnot). > -- The Palm PDK Hot Apps Program offers developers who use the Plug-In Development Kit to bring their C/C++ apps to Palm for a share of $1 Million in cash or HP Products. Visit us here for more details: http://ad.doubleclick.net/clk;226879339;13503038;l? http://clk.atdmt.com/CRS/go/247765532/direct/01/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] WG: Re: WG: Re: axis and batch processing
Chris, I've managed to get a preview that seemed to display a combination of the files. Set the "PROGRAM_PREFIX" setting in the ini file to the location of the called files Removed the M30 codes from the end of each sub. regards, Jan On Thu, Oct 1, 2009 at 12:54, Chris Epicier wrote: > Hi all > > I am in the process of cutting parts, due out soon. Should be doing million > things, other than keepin my cnc busy. > > I checked and rechecked the syntax in bot, master, labels and other files. I > cannot find a mistake there. > > Is there a way I can debug this? A way to set axis/emc to talk to me about > what is going wrong? > > Greets > > chris > > Besides: had yesterday a couple of guys couriuos abut the cnc cutting. one of > them works for steel cutter. He said he was impressed about the features and > easiness emc and axis can be handled. Also my finding: great! So a big > faaa thankyou to all that made emc what it is now! > > >> Jan >> >> Thank you very much for the quick reply. Stephen had >> pointed me to this also, I have amended the files >> accordingly and still get "Bad Number Format". >> >> I attach the original files not stripped. Maybe there is >> something there that shoudl not be. Besides, all files >> rune >> smoothly as truely standa alone files. So I do not believe >> it is actually within the sub files. >> >> greets chris >> >> > > Betreff: Re: [Emc-users] WG: Re: axis and batch >> > processing >> > > An: "Enhanced Machine Controller (EMC)" >> > > Datum: Mittwoch, 30. September 2009, 19:48 >> > > Chris, >> > > >> > > in file labels.ngc, line 1: Olabels sub >> > > Should be: O sub >> > > and: Olabels endsub >> > > Should be O endsub >> > > >> > > This syntax error should also be corrected in >> the >> > other >> > > files. >> > > >> > > regards, Jan >> > > >> > > On Wed, Sep 30, 2009 at 18:00, Chris Epicier >> >> > > wrote: >> > > > >> > > > >> > > > >> > > > Dear Stephen >> > > > >> > > >> >>Check this chapter in the >> manual: >> > > >> >>http://linuxcnc.org/docs/2.3/html/gcode_main.html#r3_7 >> > > >> >>Regards, Jan >> > > > >> > > > I did, but I just cannot get it to work. I >> have >> > 5 >> > > files: >> > > > >> > > > [master.ngc] >> > > > O call >> > > > O call >> > > > O call >> > > > O call >> > > > G53 G0 X0Y0Z0 >> > > > [end of master.ngc] >> > > > >> > > > >> > > > [labels.ngc] >> > > > Olabels sub >> > > > N0G20M6T2 >> > > > >> > > > N868M09 >> > > > N869M30 >> > > > Olabels endsub >> > > > M2 >> > > > [end of labels.ngc] >> > > > >> > > > [internal_contours.ngc] >> > > > Ointernal_contours sub >> > > > N0G20M6T2 >> > > > >> > > > N868M09 >> > > > N869M30 >> > > > Ointernal_contours endsub >> > > > M2 >> > > > [end of internal_contours.ngc] >> > > > >> > > > [external_contours_rough.ngc] >> > > > Oexternal_contours_rough sub >> > > > N0G20M6T2 >> > > > >> > > > N868M09 >> > > > N869M30 >> > > > Oexternal_contours_rough endsub >> > > > M2 >> > > > [end of external_contours_rough.ngc] >> > > > >> > > > [external_contours_finish.ngc] >> > > > Oexternal_contours_finish sub >> > > > N0G20M6T2 >> > > > >> > > > N868M09 >> > > > N869M30 >> > > > Oexternal_contours_finish endsub >> > > > M2 >> > > > [end of external_contours_finish.ngc] >> > > > >> > > > >> > > > All files are in the same directory. I >> believe I >> > got >> > > the >> > > > master file about right. What I doubt there >> is if >> > the >> > > homing >> > > > sequence is correct but that's not a >> > showstopper. >> > > > >> > > > In [labels.ngc] and all the other sub >> files, I >> > > doubt >> > > > the missing line numbering. My programming >> > experience >> > > tells >> > > > me, either it has to be ther or totally >> omitted. >> > > > >> > > > If I load master ngc in axis, I get no >> > errormessage. >> > > when I >> > > > run the file I get "Bad Number Format". >> > > > >> > > > I am lost now. What's wrong and where, any >> help >> > is >> > > greatly >> > > > appreciated. >> > > > >> > > > greets >> > > > >> > > > chris >> > > >> >> > > >> >> > > >> >> > > >> >> > > >> >> > > >> > >> >> > > >> > >> >> > > >> > > >> > > >> > >> > > >> >> > > >> > >> >=== >> > > >> > >3.7 Calling Files >> > > >> > > >> > > >> > >To call a file name the file >> the >> > same as >> > > your call >> > > >> and >> > > >> > include a sub and endsub. The file >> must >> > be in >> > > the >> > > >> directory >> > > >> > pointed to by PROGRAM_PREFIX >> > > >> > > >> > > >> > >o call (a >> named >> > > file) >> > > >> > > >> > > >> > >or >> > > >> > > >> > > >> > >o123 call (a number >> file) >> > > >> > > >> > > >> > >In the called file include the >> oxxx >> > sub >> > > and endsub >> > > >> and >> > > >> > the file must be a valid file >> > > >> > > >> > > >> > >myfile.ngc >> > > >> > >o sub >> > > >> > >... >> > > >> > >o endsub >> > > >> > >M2 >> > > >> > >> > > >> >
Re: [Emc-users] WG: Re: WG: Re: axis and batch processing
Chris, Is your PROGRAM_PREFIX setting in the [DISPLAY] section set? Regards, Jan On Thu, Oct 1, 2009 at 12:54, Chris Epicier wrote: > Hi all > > I am in the process of cutting parts, due out soon. Should be doing million > things, other than keepin my cnc busy. > > I checked and rechecked the syntax in bot, master, labels and other files. I > cannot find a mistake there. > > Is there a way I can debug this? A way to set axis/emc to talk to me about > what is going wrong? > > Greets > > chris > > Besides: had yesterday a couple of guys couriuos abut the cnc cutting. one of > them works for steel cutter. He said he was impressed about the features and > easiness emc and axis can be handled. Also my finding: great! So a big > faaa thankyou to all that made emc what it is now! > > >> Jan >> >> Thank you very much for the quick reply. Stephen had >> pointed me to this also, I have amended the files >> accordingly and still get "Bad Number Format". >> >> I attach the original files not stripped. Maybe there is >> something there that shoudl not be. Besides, all files >> rune >> smoothly as truely standa alone files. So I do not believe >> it is actually within the sub files. >> >> greets chris >> >> > > Betreff: Re: [Emc-users] WG: Re: axis and batch >> > processing >> > > An: "Enhanced Machine Controller (EMC)" >> > > Datum: Mittwoch, 30. September 2009, 19:48 >> > > Chris, >> > > >> > > in file labels.ngc, line 1: Olabels sub >> > > Should be: O sub >> > > and: Olabels endsub >> > > Should be O endsub >> > > >> > > This syntax error should also be corrected in >> the >> > other >> > > files. >> > > >> > > regards, Jan >> > > >> > > On Wed, Sep 30, 2009 at 18:00, Chris Epicier >> >> > > wrote: >> > > > >> > > > >> > > > >> > > > Dear Stephen >> > > > >> > > >> >>Check this chapter in the >> manual: >> > > >> >>http://linuxcnc.org/docs/2.3/html/gcode_main.html#r3_7 >> > > >> >>Regards, Jan >> > > > >> > > > I did, but I just cannot get it to work. I >> have >> > 5 >> > > files: >> > > > >> > > > [master.ngc] >> > > > O call >> > > > O call >> > > > O call >> > > > O call >> > > > G53 G0 X0Y0Z0 >> > > > [end of master.ngc] >> > > > >> > > > >> > > > [labels.ngc] >> > > > Olabels sub >> > > > N0G20M6T2 >> > > > >> > > > N868M09 >> > > > N869M30 >> > > > Olabels endsub >> > > > M2 >> > > > [end of labels.ngc] >> > > > >> > > > [internal_contours.ngc] >> > > > Ointernal_contours sub >> > > > N0G20M6T2 >> > > > >> > > > N868M09 >> > > > N869M30 >> > > > Ointernal_contours endsub >> > > > M2 >> > > > [end of internal_contours.ngc] >> > > > >> > > > [external_contours_rough.ngc] >> > > > Oexternal_contours_rough sub >> > > > N0G20M6T2 >> > > > >> > > > N868M09 >> > > > N869M30 >> > > > Oexternal_contours_rough endsub >> > > > M2 >> > > > [end of external_contours_rough.ngc] >> > > > >> > > > [external_contours_finish.ngc] >> > > > Oexternal_contours_finish sub >> > > > N0G20M6T2 >> > > > >> > > > N868M09 >> > > > N869M30 >> > > > Oexternal_contours_finish endsub >> > > > M2 >> > > > [end of external_contours_finish.ngc] >> > > > >> > > > >> > > > All files are in the same directory. I >> believe I >> > got >> > > the >> > > > master file about right. What I doubt there >> is if >> > the >> > > homing >> > > > sequence is correct but that's not a >> > showstopper. >> > > > >> > > > In [labels.ngc] and all the other sub >> files, I >> > > doubt >> > > > the missing line numbering. My programming >> > experience >> > > tells >> > > > me, either it has to be ther or totally >> omitted. >> > > > >> > > > If I load master ngc in axis, I get no >> > errormessage. >> > > when I >> > > > run the file I get "Bad Number Format". >> > > > >> > > > I am lost now. What's wrong and where, any >> help >> > is >> > > greatly >> > > > appreciated. >> > > > >> > > > greets >> > > > >> > > > chris >> > > >> >> > > >> >> > > >> >> > > >> >> > > >> >> > > >> > >> >> > > >> > >> >> > > >> > > >> > > >> > >> > > >> >> > > >> > >> >=== >> > > >> > >3.7 Calling Files >> > > >> > > >> > > >> > >To call a file name the file >> the >> > same as >> > > your call >> > > >> and >> > > >> > include a sub and endsub. The file >> must >> > be in >> > > the >> > > >> directory >> > > >> > pointed to by PROGRAM_PREFIX >> > > >> > > >> > > >> > > o call (a >> named >> > > file) >> > > >> > > >> > > >> > >or >> > > >> > > >> > > >> > > o123 call (a number >> file) >> > > >> > > >> > > >> > >In the called file include the >> oxxx >> > sub >> > > and endsub >> > > >> and >> > > >> > the file must be a valid file >> > > >> > > >> > > >> > > myfile.ngc >> > > >> > > o sub >> > > >> > > ... >> > > >> > > o endsub >> > > >> > > M2 >> > > >> > >> > > >> > >> > > >> > > >> > > >> > >If I interprete that correctly, >> I >> > shoud >> > > be able to >> > > >> do >> > > >> > this: >> > > >
Re: [Emc-users] WG: Re: axis and batch processing
Chris, in file labels.ngc, line 1: Olabels sub Should be: O sub and: Olabels endsub Should be O endsub This syntax error should also be corrected in the other files. regards, Jan On Wed, Sep 30, 2009 at 18:00, Chris Epicier wrote: > > > > Dear Stephen > >> >>Check this chapter in the manual: >> >>http://linuxcnc.org/docs/2.3/html/gcode_main.html#r3_7 >> >>Regards, Jan > > I did, but I just cannot get it to work. I have 5 files: > > [master.ngc] > O call > O call > O call > O call > G53 G0 X0Y0Z0 > [end of master.ngc] > > > [labels.ngc] > Olabels sub > N0G20M6T2 > > N868M09 > N869M30 > Olabels endsub > M2 > [end of labels.ngc] > > [internal_contours.ngc] > Ointernal_contours sub > N0G20M6T2 > > N868M09 > N869M30 > Ointernal_contours endsub > M2 > [end of internal_contours.ngc] > > [external_contours_rough.ngc] > Oexternal_contours_rough sub > N0G20M6T2 > > N868M09 > N869M30 > Oexternal_contours_rough endsub > M2 > [end of external_contours_rough.ngc] > > [external_contours_finish.ngc] > Oexternal_contours_finish sub > N0G20M6T2 > > N868M09 > N869M30 > Oexternal_contours_finish endsub > M2 > [end of external_contours_finish.ngc] > > > All files are in the same directory. I believe I got the > master file about right. What I doubt there is if the homing > sequence is correct but that's not a showstopper. > > In [labels.ngc] and all the other sub files, I doubt > the missing line numbering. My programming experience tells > me, either it has to be ther or totally omitted. > > If I load master ngc in axis, I get no errormessage. when I > run the file I get "Bad Number Format". > > I am lost now. What's wrong and where, any help is greatly > appreciated. > > greets > > chris >> >> >> >> >> >> > >> >> > >> >> > > >> > >> >=== >> > >3.7 Calling Files >> > > >> > >To call a file name the file the same as your call >> and >> > include a sub and endsub. The file must be in the >> directory >> > pointed to by PROGRAM_PREFIX >> > > >> > > o call (a named file) >> > > >> > >or >> > > >> > > o123 call (a number file) >> > > >> > >In the called file include the oxxx sub and endsub >> and >> > the file must be a valid file >> > > >> > > myfile.ngc >> > > o sub >> > > ... >> > > o endsub >> > > M2 >> > > >> > > >> > >If I interprete that correctly, I shoud be able to >> do >> > this: >> > > >> > >Let's assume I have these files: >> > >engrave.ngc, bevel.ngc, inner.ngc, outer. ngc, >> home.ngc >> > >> > > >> > >I so, I woul generate another file, let's call it >> > master.ngc with about te following content: >> > > >> > > >> > >omaster.ngc call engrave.ngc >> > >omaster.ngc call home.ngc >> > >omaster.ngc call bevel.ngc >> > >omaster.ngc call home.ngc >> > >omaster.ngc call inner.ngc >> > >omaster.ngc call home.ngc >> > >omaster.ngc call outer. ngc >> > >omaster.ngc call home.ngc >> > > >> > >However that fails, why? >> > > >> > > >> > I haven't tried it, but one thing to note is that the >> > <> are necessary >> > around a named O-word or parameter. >> > >> > Also, the manual might be a little unclear since it >> looks >> > like the text >> > in parentheses is part of the command. I think what >> > the instructions >> > are trying to say is that the master file should do a >> call >> > with the name >> > of the subroutine file: >> > O call >> > O call >> > ... >> > >> > And the subroutine files should be like this: >> > engrave.ngc: >> > O sub >> > (your engraving G-code goes here) >> > ... >> > O endsub >> > M2 >> > >> > home.ngc: >> > O sub >> > (your homing g-code goes here) >> > ... >> > O endsub >> > M2 >> > >> > Etc. >> > >> > Try it and let us know if it works this way. >> > >> > - Steve >> > >> > >> >> >> >> > > > > > -- > Come build with us! The BlackBerry® Developer Conference in SF, CA > is the only developer event you need to attend this year. Jumpstart your > developing skills, take BlackBerry mobile applications to market and stay > ahead of the curve. Join us from November 9-12, 2009. Register now! > http://p.sf.net/sfu/devconf > ___ > Emc-users mailing list > Emc-users@lists.sourceforge.net > https://lists.sourceforge.net/lists/listinfo/emc-users > -- Come build with us! The BlackBerry® Developer Conference in SF, CA is the only developer event you need to attend this year. Jumpstart your developing skills, take BlackBerry mobile applications to market and stay ahead of the curve. Join us from November 9-12, 2009. Register now! http://p.sf.net/sfu/devconf ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] axis and batch processing
Check this chapter in the manual: http://linuxcnc.org/docs/2.3/html/gcode_main.html#r3_7 Regards, Jan On Sat, Jul 4, 2009 at 13:08, Chris Epicier wrote: > > hi everyone > > I do a lot of cutting for my rc modelling projects through Rhinocam and axis. > Now people start asking me to cut for them, which is very pleasing. So far I > used to prepare one g-code file for > > - engraving labels > - bevelling (where needed) > - cutting inner contours > - cutting outer contours > > I had to load and run these files individually. So I am asking myself, if I > can join them in some way. Simple copy into one big file does not seem to > work though. Does anyone have an idea, how I can achieve this? > > best regards chris > > > > > -- > ___ > Emc-users mailing list > Emc-users@lists.sourceforge.net > https://lists.sourceforge.net/lists/listinfo/emc-users > -- ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Auto Tune?
I'm not sure it's the same, but I thought this was already implemented: http://www.linuxcnc.org/docs/devel/html/man/man9/at_pid.9.html Regards, Jan -- Check out the new SourceForge.net Marketplace. It is the best place to buy or sell services for just about anything Open Source. http://p.sf.net/sfu/Xq1LFB ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Robot Kinematics
Dan,
This is part of a program use to control a mimimover robot witch looks
a lot like the teachmover.
It was written by my father centuries ago ... =)
I think it's written in Modula-2 and contains the kinematic equations
you'll need.
Regards, Jan
DEFINITION MODULE Trans;
(*
CCRC Cartesisian coordinates to Robot coordinates
Cartesian: (millimeters and radians)
x cc[0]
y cc[1]
z cc[2]
pich cc[3]
roll cc[4]
Robot: r1,r2,r3,r4,r5 (radians)
RCCC Robot to Cartesian coordinates
Robot: rc[0] ... rc[4]
Cartesian: x,y,z,p,r
TWRC: steps to robot coordinates
t : steps
rc : robot
RCTW Robot coordinates to steps
t : steps
rc : robot
*)
EXPORT QUALIFIED CCRC,RCCC,TWRC,RCTW,IntToReals;
PROCEDURE CCRC(cc:ARRAY OF REAL;VAR r1,r2,r3,r4,r5:REAL;VAR ok:BOOLEAN);
(*Carthesian to robot coordinates
Deze procedure zet cart. coordinaten om naar robotcoordinaten.
Cart.coord. :x,y en z waarden in mm.
pitch en roll in radialen
x,y,z,p en r resp. cc[0] tot cc[4].
Robotcoord. :Dit zijn de hoeken in radialen van de gewrichten
r1,r2,r3,r4,r5.
ok :Geeft aan of er fouten waren. *)
PROCEDURE RCCC(rc:ARRAY OF REAL;VAR x,y,z,p,r:REAL);
(*Robot coordinates to carthesian coordinates
Robotcoordinaten worden omgezet naar cart. coordinaten.
Robotcoord. :rc[0] tot rc[4].
Cart. coord. :x,y,z,p en r. *)
PROCEDURE TWRC(t:ARRAY OF INTEGER;VAR rc:ARRAY OF REAL);
(*Steps to robotcoordinates (scaling?)
Tellerwaarden die verkregen zijn door de procedue Read kunnen hier
omgezet worden in Robotcoordinaten.
Tellerwaarden :aantal stappen dat elke motor reeds verplaatst is
t[0] tot t[5].
Robotcoord. :rc[0] tot rc[5]
rc[5] = handopening in mm. *)
PROCEDURE RCTW(rc:ARRAY OF REAL;VAR t:ARRAY OF INTEGER);
(* robotcoordinates to steps
De robotcoordinaten worden omgezet in tellerwaarden.
Robotcoord. :rc[0] tot rc[5].
Tellerwaarden :t[0] tot t[5]
*)
PROCEDURE IntToReals(i:INTEGER):REAL;
(* Functie-procedure die een INTEGER i omzet naar een REAL. *)
END Trans.
___
IMPLEMENTATION MODULE Trans;
FROM InOut IMPORT WriteString;
FROM FloatingUtilities IMPORT Round;
FROM MathLib0 IMPORT sin,cos,arctan,sqrt;
PROCEDURE Error(n: CARDINAL);
BEGIN
CASE n OF
1 : WriteString(' Locatie buiten werkgebied van de robot ');|
2 : WriteString(' Te grote rotatie van de pols '); |
3 : WriteString(' Te grote rotatie van de arm ');
ELSE ;
END
END Error;
PROCEDURE Sign (r:REAL):REAL;
VAR Teken : REAL;
BEGIN
IF r=0.0 THEN Teken := 0.0
ELSIF r<0.0 THEN Teken := -1.0
ELSE Teken := 1.0
END;
RETURN Teken
END Sign;
PROCEDURE RCCC(rc:ARRAY OF REAL;VAR x,y,z,p,r:REAL);
(* Zet robotcoordinaten om naar cart. coord. *)
CONST el = 177.8;
ll = 89.0;
h = 195.0;
VAR rr : REAL;
BEGIN
r:=((rc[4]-rc[3])/2.0)-rc[0];
p:=((rc[4]+rc[3])/2.0);
rr:=el*cos(rc[1])+el*cos(rc[2])+ll*cos(p);
x:=rr*cos(rc[0]);
y:=rr*sin(rc[0]);
z:=h+el*sin(rc[1])+el*sin(rc[2])+ll*sin(p);
END RCCC;
PROCEDURE CCRC(cc:ARRAY OF REAL;VAR r1,r2,r3,r4,r5:REAL;VAR ok:BOOLEAN);
(* Zet cart. coord. om naar robotcoord. *)
CONST el = 177.8;
pi = 3.141592654;
ll = 89.0;
h = 195.0;
VAR d,g,a,ro,b,rr,zo,v1,v2,v3,v4 : REAL;
notok : BOOLEAN;
BEGIN
ok:=TRUE;
d:=180.0/pi;
v1:=144.0/d;
v2:=127.0/d;
v3:=180.0/d;
v4:=270.0/d;
b:=4.0*el*el;
rr:=sqrt(cc[0]*cc[0]+cc[1]*cc[1]);
IF(cc[0]<0.0)OR(rr<60.0)
THEN ok:=FALSE;
Error(1)
ELSE IF cc[0]=0.0
THEN r1:=Sign(cc[1])*pi/2.0
ELSE r1:=arctan(cc[1]/cc[0])
END;
r5:=cc[3]+cc[4]+r1;
r4:=cc[3]-cc[4]-r1;
IF(ABS(r4)>v4)OR(ABS(r5)>v4)
THEN ok:=FALSE;
Error(2)
ELSE ro:=rr-ll*cos(cc[3]);
zo:=cc[2]-ll*sin(cc[3])-h;
IF ro=0.0
THEN g:=Sign(zo)*pi/2.0
ELSE g:=arctan(zo/ro)
END;
a:=ro*ro+zo*zo;
a:=b/a-1.0;
IF (a<0.0)OR(ro<60.0)
THEN ok:=FALSE;
Error(1)
ELSE a:= arctan(sqrt(a));
r2:=a+g;
r3:=g-a;
notok := (r2>v1) OR (r2< -v2) ;
notok := notok OR (r2+ r3 < -v3) OR (r2+r3>v1);
IF notok THEN
ok:=FALSE;
Error(3)
END
END
END
END
END CCRC;
PROCEDURE TWRC(t:ARRAY OF INTEGER;VAR rc:ARRAY OF REAL);
VAR b:ARRAY[0..5]OF BOOLEAN;
i:INTEGER;
BEGIN
FOR i:=0 TO 5 DO b[i]:=FALSE;
IF t[i]<0 THEN b[i]:=TRUE;
t[i]:=-t[i] END;
END;
rc[0]:=-FLOAT(t[0])/1125.0; rc[1]:=-FLOAT(t[1])/1125.0;
rc[2]:= FLOAT(t[2])/672.0; rc[3]:=-FLOAT(t[3])/241.0;
rc[4]:= FLOAT(t[4])/241.0; rc[5]:= FLOAT(t[5])/13.4;
FOR i:=0 TO 5 DO IF b[i] THEN rc[i]:=-rc[i] END END;
rc[1]:=0.47694+rc[1];rc[2]:=-1.6155+rc[2];
rc[3]:=-1.57079+rc[3];rc[4]:=-1.57079+rc[4];
END TWRC;
PROCEDURE RCTW(rc:ARRAY OF REAL;VAR t:ARRAY OF INTEGER);
BEGIN
rc[1]:=rc[1]-0.47694;
rc[2]:=rc[2]+1.6155;
rc[3]:=rc[3]+1.57079;
rc[4]:=rc[4]+1.57079;
t[0]:=-Round(1125.0*rc[0]);
t[1]:=-Round(1125.0*rc[1]);
t[2]:= Round(672.0*rc[2]);
t[3]:=-Round(241.0*rc[3]);
t[4]:= Round(241.0*rc[4]);
t[5]:= Round(13.4*rc[5])
END RCTW;
PROCEDURE IntToReals(i:INTEGER):REAL;
VAR r
Re: [Emc-users] Robot Kinematics
Dan, the kinematics of this robot type is quite trivial to solve, this image should help in figuring it out: http://imagebin.org/33869 The trick is in using substitution (ZR-plane) and putting the center of the world coordinate system in the rotation centers of the first and second joints. Kinematics help: http://www.linuxcnc.org/docs/devel/html/motion_kinematics.html Example kinematic files can be found in the repository: (includes a PUMA robot) http://cvs.linuxcnc.org/cvs/emc2/src/emc/kinematics/ Some dimensions of the teachmover: http://www.questechzone.com/images/tmspecs.gif I should have the direct and inverse kinematic solution for that robot type somewhere, but it might be faster if you figure it out yourself. (instead of me searching for it) =) Regards, Jan -- SF.Net email is Sponsored by MIX09, March 18-20, 2009 in Las Vegas, Nevada. The future of the web can't happen without you. Join us at MIX09 to help pave the way to the Next Web now. Learn more and register at http://ad.doubleclick.net/clk;208669438;13503038;i?http://2009.visitmix.com/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] pyVCP and AXIS Position
There's a solution in trunk: http://www.cnczone.com/forums/showthread.php?t=60199&page=2 Regards, Jan On Tue, Jul 8, 2008 at 21:56, Kirk Wallace <[EMAIL PROTECTED]> wrote: > I would like to display the axes positions in larger numbers, and > possibly with an inch/mm toggle. I made an X position pyVCP element on > the AXIS display, but it doesn't change with Touch-Off. Can anyone give > my a head-start on how to make my pyVCP position match AXIS' position > display? > > My lathe_postgui.hal has: > > net Xpos => pyvcp.Xposition > > I suppose Xpos is not the proper signal? Or I need to process it with > Touch-Off some how? > > -- > Kirk Wallace (California, USA > http://www.wallacecompany.com/machine_shop/ > Hardinge HNC/EMC CNC lathe, > Bridgeport mill conversion, doing XY now, > Zubal lathe conversion pending > Craftsman AA 109 restoration > Shizuoka ST-N/EMC CNC) > > > - > Sponsored by: SourceForge.net Community Choice Awards: VOTE NOW! > Studies have shown that voting for your favorite open source project, > along with a healthy diet, reduces your potential for chronic lameness > and boredom. Vote Now at http://www.sourceforge.net/community/cca08 > ___ > Emc-users mailing list > Emc-users@lists.sourceforge.net > https://lists.sourceforge.net/lists/listinfo/emc-users > - Sponsored by: SourceForge.net Community Choice Awards: VOTE NOW! Studies have shown that voting for your favorite open source project, along with a healthy diet, reduces your potential for chronic lameness and boredom. Vote Now at http://www.sourceforge.net/community/cca08___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] EMC Gallery added to CNCZone
Jon, Actually, they are stepper based machines controlled with a regular parallel port. The usc cards we bought from you, are used in an other project for 4-axis hot-wire foam cutter. I haven't got the time to post a video of that machine, yet. Regards, Jan Van Gilsen On Thu, Jul 3, 2008 at 18:55, Jon Elson <[EMAIL PROTECTED]> wrote: > Renewables Not Reactors wrote: > > I have added the EMC video gallery to CNCZone. > > Expect a lots of newbies to appear here :) > > http://www.cnczone.com/forums/showthread.php?t=60619 > > Great! > > I believe either the 3- or 5-axis CNC mill at Hogeschool > Antwerpen is controlled by my Universal PWM Controller and PWM > servo amps. A lot of COOL videos! Thanks, > > Jon > > - > Sponsored by: SourceForge.net Community Choice Awards: VOTE NOW! > Studies have shown that voting for your favorite open source project, > along with a healthy diet, reduces your potential for chronic lameness > and boredom. Vote Now at http://www.sourceforge.net/community/cca08 > ___ > Emc-users mailing list > Emc-users@lists.sourceforge.net > https://lists.sourceforge.net/lists/listinfo/emc-users > - Sponsored by: SourceForge.net Community Choice Awards: VOTE NOW! Studies have shown that voting for your favorite open source project, along with a healthy diet, reduces your potential for chronic lameness and boredom. Vote Now at http://www.sourceforge.net/community/cca08___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Problems using lines 14 and 16 of parallel port
Eduardo, If it's a on board parallel port, try changing the parallel port mode in your BIOS (spp/epp/epc/...) Pin 14 and 16 are connected to the parallel port's control register, in some modes this register uses 3V signals instead of 5V. I had a similar problem and solved it by using epp instead of spp Warning: Changing the parallel port mode can also change the behavior of the inputs (pins 10, 11, 12, 13 and 15), so check if your limit switches still work. Regards, Jan On Mon, Jun 16, 2008 at 23:46, Eduardo Bonci Cavalca <[EMAIL PROTECTED]> wrote: > Hi, > > I´m having problems in use lines 14 and 16 of parallel port with > GeckoDrive G203 like step and direction. The parallel port can´t supply the > current demanded by the driver. Someone had this problem and can help me? > (Sorry by the bad english) > > Thanks > > Eduardo > > - > Check out the new SourceForge.net Marketplace. > It's the best place to buy or sell services for > just about anything Open Source. > http://sourceforge.net/services/buy/index.php > ___ > Emc-users mailing list > Emc-users@lists.sourceforge.net > https://lists.sourceforge.net/lists/listinfo/emc-users > > - Check out the new SourceForge.net Marketplace. It's the best place to buy or sell services for just about anything Open Source. http://sourceforge.net/services/buy/index.php___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
[Emc-users] Stepper - Following Error
Hi, I'm building a stepper configuration from 2 old floppy stepper motors, and use quadrature signals to control them. For the hal-configuration I started with the stepper_mm config and modified it to output quadrature signals. the steppers move when a jog in Axis, without following errors (even at maximum jog speed), but when I try a coordinated move (g0, g1) I get following errors... I did read http://wiki.linuxcnc.org/cgi-bin/emcinfo.pl?Following_Error and tried to change BASE_PERIOD, MAX_VELOCITY and MAX_ACCELERATION with no effects (except for additional realtime errors when changing base_period) How do I get rid of these errors? Is there anything else that has to be changed when using quadrature instead of step/dir signals? Thanks, Jan - This SF.net email is sponsored by: Splunk Inc. Still grepping through log files to find problems? Stop. Now Search log events and configuration files using AJAX and a browser. Download your FREE copy of Splunk now >> http://get.splunk.com/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
