Re: [Emc-users] problem setting appropriate speeds in joint and world mode for 6 axis robot with genserkins

[Christian Stöveken]

On Mon, May 4, 2015 at 6:06 PM, alex chiosso  wrote:

> Well done Christian ! ;-)
>
> thanks.

Back to the original topic - looking at the code there seems to have been
mostly search and replace modifications
from axis to joints, but the problem I was asking about doesn't (yet) seem
to have been fixed there either

TODO for the joints_axes branch
* clean up joints/axes throughout the whole code (lots of parts already
done)
* define a unified jogging way (both for joints and axes)
* implement joint-limits for carthesian moves (requires simulating the
speed in userspace)
* update configs
(and many other probably..)

TODO sort out axis/joints issues:
* limits need to be imposed on joints (tricky with kins)
--
One dashboard for servers and applications across Physical-Virtual-Cloud 
Widest out-of-the-box monitoring support with 50+ applications
Performance metrics, stats and reports that give you Actionable Insights
Deep dive visibility with transaction tracing using APM Insight.
http://ad.doubleclick.net/ddm/clk/290420510;117567292;y
___
Emc-users mailing list
Emc-users@lists.sourceforge.net
https://lists.sourceforge.net/lists/listinfo/emc-users

Re: [Emc-users] problem setting appropriate speeds in joint and world mode for 6 axis robot with genserkins

[alex chiosso]

Well done Christian ! ;-)

Alex

On Mon, May 4, 2015 at 6:00 PM, Christian Stöveken <
christian.stoeve...@gmail.com> wrote:

> On Mon, May 4, 2015 at 3:38 PM, Andrew  wrote:
>
> > 2015-05-04 13:40 GMT+03:00 Christian Stöveken <
> > christian.stoeve...@gmail.com
> > >:
> >
> > > Which one of the joints axis branches in the linuxcnc git would that
> be?
> > > (joints_axes7?)
> > >
> > > Or even one from a different repository?
> > >
> > > Also - is there a sample config (adapted Puma config?) for a 6 axis
> robot
> > > for joints_axes?
> > >  
> > >
> >
> > I've heard that joints_axes7 works pretty well. But haven't tried it
> myself
> > yet.
> > IIRC there's a script in JA that will suggest to convert your existing
> > config to JA format when loading.
> >
> >
> >
> I will try setting it up some time soon ;-)
>
> Some pictures
> <
> https://excogitation.de/exccloud/public.php?service=files&t=RbW4iciiBKIRV2M
> >
> of
> the first actual milling task (still with genserkins/master).
>
> --
> One dashboard for servers and applications across Physical-Virtual-Cloud
> Widest out-of-the-box monitoring support with 50+ applications
> Performance metrics, stats and reports that give you Actionable Insights
> Deep dive visibility with transaction tracing using APM Insight.
> http://ad.doubleclick.net/ddm/clk/290420510;117567292;y
> ___
> Emc-users mailing list
> Emc-users@lists.sourceforge.net
> https://lists.sourceforge.net/lists/listinfo/emc-users
>
--
One dashboard for servers and applications across Physical-Virtual-Cloud 
Widest out-of-the-box monitoring support with 50+ applications
Performance metrics, stats and reports that give you Actionable Insights
Deep dive visibility with transaction tracing using APM Insight.
http://ad.doubleclick.net/ddm/clk/290420510;117567292;y
___
Emc-users mailing list
Emc-users@lists.sourceforge.net
https://lists.sourceforge.net/lists/listinfo/emc-users

Re: [Emc-users] problem setting appropriate speeds in joint and world mode for 6 axis robot with genserkins

[Christian Stöveken]

On Mon, May 4, 2015 at 3:38 PM, Andrew  wrote:

> 2015-05-04 13:40 GMT+03:00 Christian Stöveken <
> christian.stoeve...@gmail.com
> >:
>
> > Which one of the joints axis branches in the linuxcnc git would that be?
> > (joints_axes7?)
> >
> > Or even one from a different repository?
> >
> > Also - is there a sample config (adapted Puma config?) for a 6 axis robot
> > for joints_axes?
> >  
> >
>
> I've heard that joints_axes7 works pretty well. But haven't tried it myself
> yet.
> IIRC there's a script in JA that will suggest to convert your existing
> config to JA format when loading.
>
>
>
I will try setting it up some time soon ;-)

Some pictures

of
the first actual milling task (still with genserkins/master).
--
One dashboard for servers and applications across Physical-Virtual-Cloud 
Widest out-of-the-box monitoring support with 50+ applications
Performance metrics, stats and reports that give you Actionable Insights
Deep dive visibility with transaction tracing using APM Insight.
http://ad.doubleclick.net/ddm/clk/290420510;117567292;y
___
Emc-users mailing list
Emc-users@lists.sourceforge.net
https://lists.sourceforge.net/lists/listinfo/emc-users

Re: [Emc-users] problem setting appropriate speeds in joint and world mode for 6 axis robot with genserkins

[Andrew]

2015-05-04 13:40 GMT+03:00 Christian Stöveken :

> Which one of the joints axis branches in the linuxcnc git would that be?
> (joints_axes7?)
>
> Or even one from a different repository?
>
> Also - is there a sample config (adapted Puma config?) for a 6 axis robot
> for joints_axes?
>  
>

I've heard that joints_axes7 works pretty well. But haven't tried it myself
yet.
IIRC there's a script in JA that will suggest to convert your existing
config to JA format when loading.

-- 
Andrew
--
One dashboard for servers and applications across Physical-Virtual-Cloud 
Widest out-of-the-box monitoring support with 50+ applications
Performance metrics, stats and reports that give you Actionable Insights
Deep dive visibility with transaction tracing using APM Insight.
http://ad.doubleclick.net/ddm/clk/290420510;117567292;y
___
Emc-users mailing list
Emc-users@lists.sourceforge.net
https://lists.sourceforge.net/lists/listinfo/emc-users

Re: [Emc-users] problem setting appropriate speeds in joint and world mode for 6 axis robot with genserkins

[Christian Stöveken]

On Thu, Apr 30, 2015 at 6:59 PM, Andrew  wrote:

>
> This is due to mixed  joints/axes.
> IIRC axis_N values in INI file actually represent type, velocity,
> acceleration and limits for world axes, but resolution and homing behavior
> for joints.
>
> Any ideas on how I should tackle this problem - keeping in mind that
> > exceeding the inidividual axis' speed/acceleration is sensitive for
> > the proper operation of the robot.
> >
> >
> Try using joints_axes branch
> http://wiki.linuxcnc.org/cgi-bin/wiki.pl?JointAxesBranch
>
>
Which one of the joints axis branches in the linuxcnc git would that be?
(joints_axes7?)

Or even one from a different repository?

Also - is there a sample config (adapted Puma config?) for a 6 axis robot
for joints_axes?
--
One dashboard for servers and applications across Physical-Virtual-Cloud 
Widest out-of-the-box monitoring support with 50+ applications
Performance metrics, stats and reports that give you Actionable Insights
Deep dive visibility with transaction tracing using APM Insight.
http://ad.doubleclick.net/ddm/clk/290420510;117567292;y
___
Emc-users mailing list
Emc-users@lists.sourceforge.net
https://lists.sourceforge.net/lists/listinfo/emc-users

Re: [Emc-users] problem setting appropriate speeds in joint and world mode for 6 axis robot with genserkins

[Christian Stöveken]

On Thu, Apr 30, 2015 at 6:35 PM, andy pugh  wrote:

> On 30 April 2015 at 17:23, Christian Stöveken
>  wrote:
> > When switching to world mode the speed limits from axis 1/2/3 apply for
> > X/Y/Z which doesn't make a whole lot of sense to me.
>
> 123 or 012?
>
you are right: 012 of course. (robot axis are counted as 1234567 that's
always a cause for misunderstandings here)


> Are the axes actually angular?

please specify


> I am not sure what difference that
> setting makes, but I _think_ it only controls which limits slider /
> pins they obey.
>
^^ it certainly has that effect.
--
One dashboard for servers and applications across Physical-Virtual-Cloud 
Widest out-of-the-box monitoring support with 50+ applications
Performance metrics, stats and reports that give you Actionable Insights
Deep dive visibility with transaction tracing using APM Insight.
http://ad.doubleclick.net/ddm/clk/290420510;117567292;y
___
Emc-users mailing list
Emc-users@lists.sourceforge.net
https://lists.sourceforge.net/lists/listinfo/emc-users

Re: [Emc-users] problem setting appropriate speeds in joint and world mode for 6 axis robot with genserkins

[Andrew]

2015-04-30 19:23 GMT+03:00 Christian Stöveken :

> So I found like a day and a half to work on our Mantuec R15 / granite
> devices VSD-XE
> project again.
>
> When trying to run some gcode (generated with RhinoCAM) I noticed
> the robot was only moving very slowly in world mode in one direction (X
> axis).
>
> I setup all 6 axis as angular axis with the speed/acceleration settings
> tuned
> to slightly less than the VSD-XE's can handle.
>
> When switching to world mode the speed limits from axis 1/2/3 apply for
> X/Y/Z which doesn't make a whole lot of sense to me.
>
> Is this the intended behaviour?
>
>
This is due to mixed  joints/axes.
IIRC axis_N values in INI file actually represent type, velocity,
acceleration and limits for world axes, but resolution and homing behavior
for joints.

Any ideas on how I should tackle this problem - keeping in mind that
> exceeding the inidividual axis' speed/acceleration is sensitive for
> the proper operation of the robot.
>
>
Try using joints_axes branch
http://wiki.linuxcnc.org/cgi-bin/wiki.pl?JointAxesBranch

-- 
Andrew
--
One dashboard for servers and applications across Physical-Virtual-Cloud 
Widest out-of-the-box monitoring support with 50+ applications
Performance metrics, stats and reports that give you Actionable Insights
Deep dive visibility with transaction tracing using APM Insight.
http://ad.doubleclick.net/ddm/clk/290420510;117567292;y
___
Emc-users mailing list
Emc-users@lists.sourceforge.net
https://lists.sourceforge.net/lists/listinfo/emc-users

Re: [Emc-users] problem setting appropriate speeds in joint and world mode for 6 axis robot with genserkins

[andy pugh]

On 30 April 2015 at 17:23, Christian Stöveken
 wrote:
> When switching to world mode the speed limits from axis 1/2/3 apply for
> X/Y/Z which doesn't make a whole lot of sense to me.

123 or 012?

Are the axes actually angular? I am not sure what difference that
setting makes, but I _think_ it only controls which limits slider /
pins they obey.

-- 
atp
If you can't fix it, you don't own it.
http://www.ifixit.com/Manifesto

--
One dashboard for servers and applications across Physical-Virtual-Cloud 
Widest out-of-the-box monitoring support with 50+ applications
Performance metrics, stats and reports that give you Actionable Insights
Deep dive visibility with transaction tracing using APM Insight.
http://ad.doubleclick.net/ddm/clk/290420510;117567292;y
___
Emc-users mailing list
Emc-users@lists.sourceforge.net
https://lists.sourceforge.net/lists/listinfo/emc-users

[Emc-users] problem setting appropriate speeds in joint and world mode for 6 axis robot with genserkins

[Christian Stöveken]

So I found like a day and a half to work on our Mantuec R15 / granite
devices VSD-XE
project again.

When trying to run some gcode (generated with RhinoCAM) I noticed
the robot was only moving very slowly in world mode in one direction (X
axis).

I setup all 6 axis as angular axis with the speed/acceleration settings
tuned
to slightly less than the VSD-XE's can handle.

When switching to world mode the speed limits from axis 1/2/3 apply for
X/Y/Z which doesn't make a whole lot of sense to me.

Is this the intended behaviour?

Any ideas on how I should tackle this problem - keeping in mind that
exceeding the inidividual axis' speed/acceleration is sensitive for
the proper operation of the robot.

For a start I want to operate the robot in world mode because I can easily
generate
gcode for it (abusing it as xyz machine + turn table) with the cam software
at hand.

I intend to use it as 5-axis-continuous mill - but don't have access to the
suitable cam
software yet.
--
One dashboard for servers and applications across Physical-Virtual-Cloud 
Widest out-of-the-box monitoring support with 50+ applications
Performance metrics, stats and reports that give you Actionable Insights
Deep dive visibility with transaction tracing using APM Insight.
http://ad.doubleclick.net/ddm/clk/290420510;117567292;y
___
Emc-users mailing list
Emc-users@lists.sourceforge.net
https://lists.sourceforge.net/lists/listinfo/emc-users