Re: [Emc-users] Touch Off
Heinz Reimer wrote: >> >>Is there a correct procedure for using Touch Off? Ohh, you may have to be "homed". Are you homing all your axes? If not, then EMC can't figure out whether you are within the software limits on the axes. (I'm not sure why it affects the touch-off function, as that doesn't involve motion, but I think there is a problem if you have not homed.) Jon - This SF.net email is sponsored by: Microsoft Defy all challenges. Microsoft(R) Visual Studio 2005. http://clk.atdmt.com/MRT/go/vse012070mrt/direct/01/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Touch Off
Jeff Epler wrote: > Another user has reported a similar problem, but I've never been able to > reproduce it on my machine. And that means I've been unable to try > fixing it. :( You can definitely enter bad numeric representations in the window, I have done that by using the backspace key to remove some digits. The user should try to use the end and backspace keys to make sure there are no invisible or hard to see characters (like period or comma) left in the window, then enter something new. - This SF.net email is sponsored by: Microsoft Defy all challenges. Microsoft(R) Visual Studio 2005. http://clk.atdmt.com/MRT/go/vse012070mrt/direct/01/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] 'Sherline' EMC Interface on Ubuntu 6.06?
On Monday 17 September 2007, [EMAIL PROTECTED] wrote: >I tried the Ubuntu 6.06 Live CD yesterday, and liked it. However the EMC > interface was different than what I've grown accustomed to. I've been > running EMC from BDI 4.49 since last July, 2006, using the 'Sherline' EMC > interface. > >Is there a way to load the new Ubuntu 6.06, and still get a version of the > 'Sherline' EMC? Or did I just not look at all the options? > >With any advice, be forewarned that the author is a mechanical/nuclear > engineer, not a computer scientist. > >Wade Bickford >Aiken, SC > You may be used to looking at the 'tkemc' interface, whereas the default for quite a while has been the 'axis' interface. This is selectable in the *.ini file you normally run, just edit it and select the gui you'd like. Most of us think axis is the better gui these days, and some features it has may not be available in tkemc as I don't its had quite the tlc that axis has had over the last 2 years or so. -- 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) "I'd love to go out with you, but my favorite commercial is on TV." - This SF.net email is sponsored by: Microsoft Defy all challenges. Microsoft(R) Visual Studio 2005. http://clk.atdmt.com/MRT/go/vse012070mrt/direct/01/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] 'Sherline' EMC Interface on Ubuntu 6.06?
[EMAIL PROTECTED] wrote: > I tried the Ubuntu 6.06 Live CD yesterday, and liked it. However the EMC > interface was different than what I've grown accustomed to. I've been > running EMC from BDI 4.49 since last July, 2006, using the 'Sherline' EMC > interface. > > Is there a way to load the new Ubuntu 6.06, and still get a version of the > 'Sherline' EMC? Or did I just not look at all the options? > > With any advice, be forewarned that the author is a mechanical/nuclear > engineer, not a computer scientist. > EMC2 has multiple Graphical User Interfaces, which are the primary "look and feel". The one you are familiar with from Sherline is probably "mini". The new CD uses "Axis" by default, but it's pretty easy to switch to "mini". In your ini file you will find something like this in the [DISPLAY] section: # Name of display program, e.g., xemc # DISPLAY = axis # DISPLAY = usrmot # DISPLAY = mini DISPLAY = axis Comment out the axis line (put a # in front), and uncomment the mini line. Regards, John Kasunich - This SF.net email is sponsored by: Microsoft Defy all challenges. Microsoft(R) Visual Studio 2005. http://clk.atdmt.com/MRT/go/vse012070mrt/direct/01/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
[Emc-users] 'Sherline' EMC Interface on Ubuntu 6.06?
I tried the Ubuntu 6.06 Live CD yesterday, and liked it. However the EMC interface was different than what I've grown accustomed to. I've been running EMC from BDI 4.49 since last July, 2006, using the 'Sherline' EMC interface. Is there a way to load the new Ubuntu 6.06, and still get a version of the 'Sherline' EMC? Or did I just not look at all the options? With any advice, be forewarned that the author is a mechanical/nuclear engineer, not a computer scientist. Wade Bickford Aiken, SC - This SF.net email is sponsored by: Microsoft Defy all challenges. Microsoft(R) Visual Studio 2005. http://clk.atdmt.com/MRT/go/vse012070mrt/direct/01/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Touch Off
Andy Ibbotson wrote: > > Another evening, another question, > > I’ve just been using the Touch Off button with V2.1.7 and come up with > a problem: > > Launch EMC > > Jog axes around etc. > > Click Touch Off for say X axis and attempt to enter 0.125” when I type > the first 0 (zero) an error appears in the popup window saying “bad > number format” once this has occurred I can’t add offsets to any axis. > > Close and relaunch EMC – all works as expected. > > Close and relaunch EMC – same problem. > > Is there a correct procedure for using Touch Off? > > Regards > > Andy > > > > - > This SF.net email is sponsored by: Microsoft > Defy all challenges. Microsoft(R) Visual Studio 2005. > http://clk.atdmt.com/MRT/go/vse012070mrt/direct/01/ > > > ___ > Emc-users mailing list > Emc-users@lists.sourceforge.net > https://lists.sourceforge.net/lists/listinfo/emc-users > I've had the same issue, and (accidentally) discovered yesterday that if if I place the cursor in the box and backspace out one or both zero's, a non zero value will be accepted. Regards Heinz Reimer - This SF.net email is sponsored by: Microsoft Defy all challenges. Microsoft(R) Visual Studio 2005. http://clk.atdmt.com/MRT/go/vse012070mrt/direct/01/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Touch Off
On Monday 17 September 2007, Jeff Epler wrote: >Another user has reported a similar problem, but I've never been able to >reproduce it on my machine. And that means I've been unable to try >fixing it. :( > >Jeff > It has never worked for me either, Jeff. All I can get out of it is the bad number format message too. I've been meaning to ask about it, but I got used to setting home where ever I needed it so it wasn't life & death important to me. -- 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) One can never consent to creep when one feels an impulse to soar. -- Helen Keller - This SF.net email is sponsored by: Microsoft Defy all challenges. Microsoft(R) Visual Studio 2005. http://clk.atdmt.com/MRT/go/vse012070mrt/direct/01/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Debugging parallel kinematics: how t o printf indmesg?
On Monday 17 September 2007, Alex Joni wrote: >http://www.imac.unavarra.es/parallel/images/argazkiak/img_4336.jpg > Thanks Alex. Is the worktable of that machine not yet installed? >Regards, >Alex > >- Original Message - >From: "Gene Heskett" <[EMAIL PROTECTED]> >To: <[EMAIL PROTECTED]>; "Enhanced Machine Controller (EMC)" > >Sent: Monday, September 17, 2007 10:55 PM >Subject: Re: [Emc-users] Debugging parallel kinematics: how to printf >indmesg? > >> On Monday 17 September 2007, jros wrote: >>>Hello!. >>> >>>We are implementing a 6 dgf kinematics for a parallel manipulator. >>> >>>(see http://imac/parallel/images/argazkiak/img_4336.jpg for a photograph >>>of the machine without the head) >> >> Can you supply a better link, this is an 'imac' is an unknown server >> error. >> >> -- >> 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) >> Power Company having EMP problems with their reactor >> >> - >> This SF.net email is sponsored by: Microsoft >> Defy all challenges. Microsoft(R) Visual Studio 2005. >> http://clk.atdmt.com/MRT/go/vse012070mrt/direct/01/ >> ___ >> Emc-users mailing list >> Emc-users@lists.sourceforge.net >> https://lists.sourceforge.net/lists/listinfo/emc-users >> >> >> -- >> No virus found in this incoming message. >> Checked by AVG Free Edition. >> Version: 7.5.487 / Virus Database: 269.13.21/1012 - Release Date: >> 9/16/2007 6:32 PM > >- >This SF.net email is sponsored by: Microsoft >Defy all challenges. Microsoft(R) Visual Studio 2005. >http://clk.atdmt.com/MRT/go/vse012070mrt/direct/01/ >___ >Emc-users mailing list >Emc-users@lists.sourceforge.net >https://lists.sourceforge.net/lists/listinfo/emc-users -- 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) One can never consent to creep when one feels an impulse to soar. -- Helen Keller - This SF.net email is sponsored by: Microsoft Defy all challenges. Microsoft(R) Visual Studio 2005. http://clk.atdmt.com/MRT/go/vse012070mrt/direct/01/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Touch Off
Another user has reported a similar problem, but I've never been able to reproduce it on my machine. And that means I've been unable to try fixing it. :( Jeff - This SF.net email is sponsored by: Microsoft Defy all challenges. Microsoft(R) Visual Studio 2005. http://clk.atdmt.com/MRT/go/vse012070mrt/direct/01/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Multiple axis homing....?
Hi Patrick Yes, I think you need 2.1.x or above for home sequencing to work. Also, I believe the HOME_SEQUENCE is supposed to be put into each axis section, like so: [AXIS_0] ... HOME_SEQUENCE 0 ... [AXIS_1] ... HOME_SEQUENCE 0 ... [AXIS_2] ... HOME_SEQUENCE 1 ... The snippets above would home X and Y simultaneously (they're both first in the sequence), then home Z. The reason you don't get an error is that ini files are meant to be able to hold information for multiple programs, so it isn't an error if there's some extra unnecessary info. You could add a completely new section with anything in it (it doesn't even have to be name=value pairs, you could just stick a bunch of text in a section, and you won't get any errors). - Steve Patrick Ferrick wrote: >Hey, > >Here's something that I've been wondering about for a while: I can't seem to >get multiple axes to home in sequence. Do I need to be running a version of >EMC2 later than 2.0.5? > >I have this line in my ini file: > >HOME_SEQUENCE 0 1 2 > >which doesn't generate any complaints, but also doesn't do what it looks like >it should do. When I press Home, alt-Home, ctrl-Home (and every other >variation I can think of!) I get motion of the 0 axis only. > >Hints? > >thanks, >Pat > > > >=== >Patrick Ferrick >Town of Webb School >Main Street >Old Forge, NY 13420 > >(315) 369-3222 >(315) 369-6216 (fax) > - This SF.net email is sponsored by: Microsoft Defy all challenges. Microsoft(R) Visual Studio 2005. http://clk.atdmt.com/MRT/go/vse012070mrt/direct/01/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
[Emc-users] Touch Off
Another evening, another question, I've just been using the Touch Off button with V2.1.7 and come up with a problem: Launch EMC Jog axes around etc. Click Touch Off for say X axis and attempt to enter 0.125" when I type the first 0 (zero) an error appears in the popup window saying "bad number format" once this has occurred I can't add offsets to any axis. Close and relaunch EMC - all works as expected. Close and relaunch EMC - same problem. Is there a correct procedure for using Touch Off? Regards Andy - This SF.net email is sponsored by: Microsoft Defy all challenges. Microsoft(R) Visual Studio 2005. http://clk.atdmt.com/MRT/go/vse012070mrt/direct/01/___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Debugging parallel kinematics: how to printf indmesg?
http://www.imac.unavarra.es/parallel/images/argazkiak/img_4336.jpg Regards, Alex - Original Message - From: "Gene Heskett" <[EMAIL PROTECTED]> To: <[EMAIL PROTECTED]>; "Enhanced Machine Controller (EMC)" Sent: Monday, September 17, 2007 10:55 PM Subject: Re: [Emc-users] Debugging parallel kinematics: how to printf indmesg? > On Monday 17 September 2007, jros wrote: >>Hello!. >> >>We are implementing a 6 dgf kinematics for a parallel manipulator. >> >>(see http://imac/parallel/images/argazkiak/img_4336.jpg for a photograph >>of the machine without the head) >> > Can you supply a better link, this is an 'imac' is an unknown server > error. > > -- > 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) > Power Company having EMP problems with their reactor > > - > This SF.net email is sponsored by: Microsoft > Defy all challenges. Microsoft(R) Visual Studio 2005. > http://clk.atdmt.com/MRT/go/vse012070mrt/direct/01/ > ___ > Emc-users mailing list > Emc-users@lists.sourceforge.net > https://lists.sourceforge.net/lists/listinfo/emc-users > > > -- > No virus found in this incoming message. > Checked by AVG Free Edition. > Version: 7.5.487 / Virus Database: 269.13.21/1012 - Release Date: > 9/16/2007 6:32 PM > > - This SF.net email is sponsored by: Microsoft Defy all challenges. Microsoft(R) Visual Studio 2005. http://clk.atdmt.com/MRT/go/vse012070mrt/direct/01/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Debugging parallel kinematics: how to printf in dmesg?
On Monday 17 September 2007, jros wrote: >Hello!. > >We are implementing a 6 dgf kinematics for a parallel manipulator. > >(see http://imac/parallel/images/argazkiak/img_4336.jpg for a photograph >of the machine without the head) > Can you supply a better link, this is an 'imac' is an unknown server error. -- 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) Power Company having EMP problems with their reactor - This SF.net email is sponsored by: Microsoft Defy all challenges. Microsoft(R) Visual Studio 2005. http://clk.atdmt.com/MRT/go/vse012070mrt/direct/01/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Install to a USB Key
-BEGIN PGP SIGNED MESSAGE- Hash: SHA1 On Mon, Sep 17, 2007 at 11:37:43AM -0500, Jon Elson wrote: > I've been waiting for these to become reasonable for years, I'm > still waiting. But, they are getting closer. The wearout > cycles on flash memory is improving, too, and there are some > ferroelectric RAM technologies that will have wearout in the > billion cycle range, but they are not anywhere as dense as flash > yet. That reminds me... I was looking at some FRAM datasheets, for RTC+FRAM's actually from Maxim, and they stated a 10-year data retention lifetime. Eeproms are specced at least 40 years, (pic chips) to even 200 years. (some eeproms from Microchip) So looks like FRAM trade's off large numbers of cycle writes with data retention. - -- http://petertodd.org -BEGIN PGP SIGNATURE- Version: GnuPG v1.4.6 (GNU/Linux) iD8DBQFG7soB3bMhDbI9xWQRAmyCAJ9kuE+lRYKVGlihPFsTI9558weqcQCfZ7Kn Nu3HA24uT0D9J45pIWp0DUE= =Frlw -END PGP SIGNATURE- - This SF.net email is sponsored by: Microsoft Defy all challenges. Microsoft(R) Visual Studio 2005. http://clk.atdmt.com/MRT/go/vse012070mrt/direct/01/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Change of Home Position
Andy Ibbotson wrote: > Ray, > Looks like it maybe associated with the PC. My opto isolator card logic > chips on the PC side are powered from one of the PC PSU output > connectors. I've had a DVM attached to this supply and it appears to > "grey" out every now and again effectively removing steps. This seems > very strange as the PC continues to work fine indicating that the PC 5V > supply must be ok. > > I initially thought that the loss of iso card power just a poor > connection in the indicator LED lead but apparently not. Maybe I need > to draw more current from the PC PSU? Or tap off from a supply to a hard > disk? These Molex-type connectors are pretty awful, and if you have connected and disconnected the power connector a bunch of times while getting set up, it may not be making good contact any more. It may be possible to VERY gently squeeze the female contact to grip the pin better. Possibly more current draw would keep the connection solid, but then you have something getting hot. Fixing the connector would be the best choice. Also, check the soldering of the connector on the opto board, and the crimping of the wires in the PSU cable. Jon - This SF.net email is sponsored by: Microsoft Defy all challenges. Microsoft(R) Visual Studio 2005. http://clk.atdmt.com/MRT/go/vse012070mrt/direct/01/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Debugging parallel kinematics: how to printf in dmesg?
> > If your kins calculations take 0.000797 seconds, you might simply be > overwhelming the PC. The default period for the servo thread is 0.0001 > seconds. Your kins code will use almost 80% of the CPU, which doesn't > leave much at all for other realtime code or the operating system. > > You could try changing the servo period from 1mS to 2mS or more to see > if that helps. > Thanks very much for your interesting answer, but after I procceed I would like ask you if "overwhelming the pc" implies computer freezing? I'm planning to improve the timing using expresion atomization, but I need to check first the not fine-tuned version of the kinematics. > Regards, > > John Kasunich > Thanks again Javier - This SF.net email is sponsored by: Microsoft Defy all challenges. Microsoft(R) Visual Studio 2005. http://clk.atdmt.com/MRT/go/vse012070mrt/direct/01/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
[Emc-users] Multiple axis homing....?
Hey, Here's something that I've been wondering about for a while: I can't seem to get multiple axes to home in sequence. Do I need to be running a version of EMC2 later than 2.0.5? I have this line in my ini file: HOME_SEQUENCE 0 1 2 which doesn't generate any complaints, but also doesn't do what it looks like it should do. When I press Home, alt-Home, ctrl-Home (and every other variation I can think of!) I get motion of the 0 axis only. Hints? thanks, Pat === Patrick Ferrick Town of Webb School Main Street Old Forge, NY 13420 (315) 369-3222 (315) 369-6216 (fax) - This SF.net email is sponsored by: Microsoft Defy all challenges. Microsoft(R) Visual Studio 2005. http://clk.atdmt.com/MRT/go/vse012070mrt/direct/01/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Install to a USB Key
Mark Pictor wrote: > If ubuntu thinks it's still on a live-cd, it won't write to the > device at all. It should be possible to copy the cd's contents > almost verbatim onto a flash device. You would need to set up the > bootloader (grub), but other than that I think it would just work. Most likely, but it wouldn't be very efficient. On my old boxes, it takes at least 10 minutes to boot from CD. I don;t know how much faster it would go from a faster USB drive, but I'm not sure I'd want to do that for daily operation. Jon - This SF.net email is sponsored by: Microsoft Defy all challenges. Microsoft(R) Visual Studio 2005. http://clk.atdmt.com/MRT/go/vse012070mrt/direct/01/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Debugging parallel kinematics: how to printf in dmesg?
You may also wish to consider configuring with --enable-simulator (or use emc2-sim packages from http://linuxcnc.org/emc2/dists/dapper/emc2.1-sim/) which lets you run the whole thing in userspace with no risk of lockups. Of course, in this mode no real hardware can be controlled. You can even run the "realtime" portions of emc under the debugger, by attaching gdb to the "rtapi_app" process. Jeff - This SF.net email is sponsored by: Microsoft Defy all challenges. Microsoft(R) Visual Studio 2005. http://clk.atdmt.com/MRT/go/vse012070mrt/direct/01/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Debugging parallel kinematics: how to printf in dmesg?
jros wrote: > Hello!. > > We are implementing a 6 dgf kinematics for a parallel manipulator. > > (see http://imac/parallel/images/argazkiak/img_4336.jpg for a photograph > of the machine without the head) > > We are using as a template genhexkins.c file so that compiling and > launching is not a problem. > > We have provided new implementations for forward and inverse kinematics. > > And we are continuously hanging ./scripts/emc hexapod-sim. Well, the > computers gets frozen, and we have to reset it!. > > I've compiled the kinematics outside emc providing a main, and it seems > that we have done a correct programing. > > Forwardkinematics requires a newton raphson iteration, much longer to > compute compared with Inverse kinematics. > > A 9 newton raphson iteration calculation requires on a 10 iteration > average a calculation time of 0.000797 secs > in our computer. > > As emc hangs we've tried to use trivkins to replace the forward and > inverse kins in genhexkins.c and it works ok, it does not hangs. > > As a last try, we have forced our kinematics to output the trivkins > kinematics, but forcing it to internaly deal with all the computations > of our model (we are forcing 9 newton-raphson iterations), in order to > see if it is a "too time consuming subrutine" problem. > > It works, it seems it works slower that with the surplus of > computations. > > But we are eye blinded to to see what is happening in fact within our > subrutine, how many iterations? output values? and input values?. > > Being the kinematics a real time module, I presume that printf debuging > will not work, more if the aplication freezes the computer. > > I presume the only posibility is to use dmesg, but I don't know how to > send output so that I can see what is happening with dmesg > > What can I do?, or where can I read about dealing with this type of real > time subrutine debugging?. > > I think I can try to debug using dmesg approach, using a working > kinematics -so the computer does not get freezed- (as the trivkins > approach mentioned before) to see what are the subrutines called and the > values of the variables passed to them, and hopefully discover what is > going on. > > Thanks in advance There are several approaches that you can use. rtapi_print_msg() can be used to print messages to the kernel log (dmesg). I'm pretty sure there is a man page for it. Keep in mind that your code is being called 1000 times a second, so printing something every time is probably not a good idea. Also, rtapi_print_msg() can't print floating point values. One very handy troubleshooting technique is to export a few extra HAL parameters. You can then observe their values with halmeter and/or halscope. If your kins calculations take 0.000797 seconds, you might simply be overwhelming the PC. The default period for the servo thread is 0.0001 seconds. Your kins code will use almost 80% of the CPU, which doesn't leave much at all for other realtime code or the operating system. You could try changing the servo period from 1mS to 2mS or more to see if that helps. Regards, John Kasunich - This SF.net email is sponsored by: Microsoft Defy all challenges. Microsoft(R) Visual Studio 2005. http://clk.atdmt.com/MRT/go/vse012070mrt/direct/01/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
[Emc-users] Debugging parallel kinematics: how to printf in dmesg?
Hello!. We are implementing a 6 dgf kinematics for a parallel manipulator. (see http://imac/parallel/images/argazkiak/img_4336.jpg for a photograph of the machine without the head) We are using as a template genhexkins.c file so that compiling and launching is not a problem. We have provided new implementations for forward and inverse kinematics. And we are continuously hanging ./scripts/emc hexapod-sim. Well, the computers gets frozen, and we have to reset it!. I've compiled the kinematics outside emc providing a main, and it seems that we have done a correct programing. Forwardkinematics requires a newton raphson iteration, much longer to compute compared with Inverse kinematics. A 9 newton raphson iteration calculation requires on a 10 iteration average a calculation time of 0.000797 secs in our computer. As emc hangs we've tried to use trivkins to replace the forward and inverse kins in genhexkins.c and it works ok, it does not hangs. As a last try, we have forced our kinematics to output the trivkins kinematics, but forcing it to internaly deal with all the computations of our model (we are forcing 9 newton-raphson iterations), in order to see if it is a "too time consuming subrutine" problem. It works, it seems it works slower that with the surplus of computations. But we are eye blinded to to see what is happening in fact within our subrutine, how many iterations? output values? and input values?. Being the kinematics a real time module, I presume that printf debuging will not work, more if the aplication freezes the computer. I presume the only posibility is to use dmesg, but I don't know how to send output so that I can see what is happening with dmesg What can I do?, or where can I read about dealing with this type of real time subrutine debugging?. I think I can try to debug using dmesg approach, using a working kinematics -so the computer does not get freezed- (as the trivkins approach mentioned before) to see what are the subrutines called and the values of the variables passed to them, and hopefully discover what is going on. Thanks in advance Javier Ros & Aitor Plaza - This SF.net email is sponsored by: Microsoft Defy all challenges. Microsoft(R) Visual Studio 2005. http://clk.atdmt.com/MRT/go/vse012070mrt/direct/01/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Change of Home Position
Ray, Looks like it maybe associated with the PC. My opto isolator card logic chips on the PC side are powered from one of the PC PSU output connectors. I've had a DVM attached to this supply and it appears to "grey" out every now and again effectively removing steps. This seems very strange as the PC continues to work fine indicating that the PC 5V supply must be ok. I initially thought that the loss of iso card power just a poor connection in the indicator LED lead but apparently not. Maybe I need to draw more current from the PC PSU? Or tap off from a supply to a hard disk? Hmmm Regards Andy -Original Message- From: [EMAIL PROTECTED] [mailto:[EMAIL PROTECTED] On Behalf Of Ray Henry Sent: 10 September 2007 21:30 To: Enhanced Machine Controller (EMC) Subject: Re: [Emc-users] Change of Home Position Hi Andy Thanks for the update on your machine and your history with emc. Sorry that I pointed you in a wrong direction for possible home errors. It would be really difficult for a g-code file to change the home position. It could appear to do it with a g10 and some sort of offset settings but that happening by chance would be about like a thousand 1000 writing a coherent novel. Is this some sort of drip feed g-code from the Excel program? What are you using for an interface? These position variables are exposed to HAL and can be changed there. I could imagine a specialized machine, like a smart conveyor where a guy might twiddle HAL bits and vars to cause the kind of motion one wanted but IMO you'd have to work at it to get those variable values changed on the fly. Rayh On Mon, 2007-09-10 at 18:09 +0100, Andy Ibbotson wrote: > Ray/ Jon, > Thanks for your comments. > > I should try and clear up a few things: > Machine is a minimill with home brew L297/L298 stepper driver boards + > stepper motors. Signals come from parallel port to drive cards via a > home brew opto-isolator card. All hardware has been running without > fault for some time with various versions of EMC and some fairly large > GCODE files. > > DRO's are mounted to the axes (cheap Chinese scales + PIC ucontroller to > read them) and totally separate from EMC and the drives. Normally > agreement between the scales and EMC is to within 0.0005". > > When I say HOME I mean just setting the axis reading to zero at the > start point of my GCODE - I'm not performing homing with limit switches > etc. > > Interesting point Jon made re. a counter getting reset, this would > generate the observed effect. > > So whats changed? > I've used EMC without problems for quite sometime now from DBI4.38 to > current 2.1.7 and have confidence in its stability. > Ubuntu is totally up to date. > No hardware changes. > > On both occasions that the "jump" has occurred I've been running GCODE > generated by a small windows based Excel utility written in VBA - it > creates simple facing and slotting tool paths. Could this be the source > of the problem? Odd characters in the text files coming over from > Windows? > > Jumps dont occur at consistent points though, Hmm more head scratching. > > Regards > Andy > > > -Original Message- > From: [EMAIL PROTECTED] > [mailto:[EMAIL PROTECTED] On Behalf Of Ray Henry > Sent: 10 September 2007 02:23 > To: Enhanced Machine Controller (EMC) > Subject: Re: [Emc-users] Change of Home Position > > > Hi Andy > > I don't remember the details of your machine but if it's servo with > encoders you might look at the location of the index pulse with respect > to the angular position where the home switch closes or opens. In the > old days we called this stuff a grid and if the switch closure was right > close to the index it could jump a full rotation, or in the case of a > resolver 1/4 of a rotation. IMO it's a good idea to put the index pulse > a half rotation away from the switch change. > > Rayh > > > On Sun, 2007-09-09 at 21:46 +0100, Andy Ibbotson wrote: > > Hello Everyone, > > > > Over the last few nights Ive experienced a coupled of odd events > > with EMC 2.1.7 normally runs flawlessly. Running AXIS Ive homed > > all axes to zero and then commenced running my Gcode. Last night the > > Y axis home position appeared to jump by 0.400 (as seen on the DRO), > > axis still reported Y home at 0.. Tonight a similar thing > > happened with the Z axis. Initially DRO Z and AXIS Z were zeroed and > > followed one another to within ½ thou (which is okay for me) then > > following a return to Z = 0., the DRO read +0.0250 and AXIS still > > reported Z=0.. The cutter was obviously offset from the workpiece > > so I stopped the programme, rehomed everything and started again, > > this time with no problem. Has anyone else experienced similar > > behaviour Im guessing not since I havent seen any posts. > > > > Regards > > > > Andy > > > > > > > > - > > This SF.net email is sponsored by
Re: [Emc-users] Install to a USB Key
Rafael Skodlar wrote: > Jon Elson wrote: > >>AKSYS Tech Pty Ltd wrote: >> >> >>>Hi Guys >>> >>> >>> >>>Thanks very much for all the info. >>> >>>I must confess that this is my first time playing with Linux so it is >>>all a bit new to me. >>> >>>I am trying to make a solid “Industrial” controller, because as a day >>>job I retrofit and repair CNC machine tools. And as a result of this I >>>see many hard drive failures on the variety of PC based systems that I >>>get asked to fix. The DOS based units with the Disk-On-Chip modules are >>>very good and I have never had any problems with them. I have seen a >>>variety of methods of mounting HDD to try and eliminate the problems >>>with vibration. One company used to mount the HDD with a spring in each >>>corner and suspend the HDD like a spider in a web. So……… I would like to >>>go the solid state route. >>> >> >> >> >>>But if the number of read/write times is limited, possibly this isn’t >>>the best route to follow. >>> >> >>If the flash has a wear-leveling scheme that remaps the >>heavily-written sectors to new locations periodically, then the >>wear is a much less serious problem. Still, a system that >>rewrites the home block every minute, for instance, could wear >>the flash out in as little as 10 days without wear levelling, or >>in a couple months with it. >> >>If you buy top-line (Maxtor, Western Digital, etc.) hard drives >>that are not the latest-greatest capacity, in other words stable >>mature technology, and if you keep them cool and don't rattle >>them, they can last 10+ years. I think the spring suspension is >>likely to be a good idea. Temperature is also important, and >>many drives cook along at 50 C in PCs, which can't be good for them. >> >>Yes, I would like to see affordable, reliable solid state disks >>that didn't have some of these problems. Probably, it would be >>possible to modify one of the existing Linux file systems to >>take best advantage of a flash disk. If you could mount a flash >>drive read-only, that would stop all writes to the drive, which >>would fix the wear problem. Linux will run with the entire boot >>file system mounted read-only, as I understand it. It can also >>run with a heck of a lot of the rest of the traditional OS files >>moved to a read-only file system. All of >>/bin/, and the same for /lib, /etc and some >> > > > /etc is not a candidate for RO. /etc has to be writable if you want to > change any user's password, connect to the net using DHCP, or do other > things that require automatic config change. Also, /etc/mtab changes > every time you mount or unmount something. Therefor /etc should be a > link to a rewritable device, either a disk or RAM. > Right, for these things you'd have to remount it RW. I was just thinking of ways to move as much as possible to a RO file system to prevent wearout of the flash chips. > Years ago when technology kept improving existing technologies not just > replacing them, floppy drives grew up to 120 and 240 MB capacity. The > advantage was in backward compatibility and it's capacity was good > enough for a good size Linux system like DSL etc. Unfortunately the > marketing never managed to get it of the ground to find them in stores > but you can still buy silly 1.4MB drives. > You can STILL boot a decent Linux kernel from a 1.44 Mb floppy, but that is not a reliable way to build a harsh-environment computer. > 120 or 240 MB would be enough to use as a rewritable portion of the > system. I have a 120MB version and it's reliable. > > BitMicro makes good solid state drives but only guys that build UAVs, > F-16s, etc. can afford them. However, prices might come down soon since > Dell started to sell a laptop model with an option to select a solid > state drive. > I've been waiting for these to become reasonable for years, I'm still waiting. But, they are getting closer. The wearout cycles on flash memory is improving, too, and there are some ferroelectric RAM technologies that will have wearout in the billion cycle range, but they are not anywhere as dense as flash yet. > USB drives with DOS format have one advantage, they only use write cycle > when you write a file to it. EXT3 and other similar file systems use and > change journaling and other information on partitions which makes it > hard for use with flash memory. right. Jon - This SF.net email is sponsored by: Microsoft Defy all challenges. Microsoft(R) Visual Studio 2005. http://clk.atdmt.com/MRT/go/vse012070mrt/direct/01/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] FW: RPM display from external sensor?
Ted Hyde wrote: > I’m looking to implement a measured RPM display via a single PPR trigger > on my spindle. Let’s say it’s on parport.0.pin-13-in. I’ve used some of > the web-mentioned articles to get the pyVCP display bar in Axis (that > works ok), but it’s a matter of actually capturing the frequency from > the hardware pin and converting it to a useable float. The nist-lathe > example appears to be using the motion module, and trying to push the > hardware bit into that counter example has failed so far. I’m reading > that EMC 2.1 trunk is depreciating the counter module and replacing it > with enhanced encoder module, but I’ve seen no updated docs on it yet. The problem is that EMC is just sampling the state of your sensor every once in a while. Depending on how you set it up, you can put it in different threads to get different sampling rates. If you haven't added the HAL component that is doing the sampling into the list of addf commands in your hal file, then it is not even being executed, which is why you get zero. Jon - This SF.net email is sponsored by: Microsoft Defy all challenges. Microsoft(R) Visual Studio 2005. http://clk.atdmt.com/MRT/go/vse012070mrt/direct/01/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] FW: RPM display from external sensor?
Hi Ted. I think you'll want to use the encoder from 2.2 (or CVS, if you feel like compiling). It uses a better algorithm to determine velocity, so it's very stable and works well with low pulse-rate sensors. We're hoping to release 2.2 on the next few months. If you'd like to try it earlier, you'll need to compile your own :) - Steve Ted Hyde wrote: > I’m looking to implement a measured RPM display via a single PPR > trigger on my spindle. Let’s say it’s on parport.0.pin-13-in. I’ve > used some of the web-mentioned articles to get the pyVCP display bar > in Axis (that works ok), but it’s a matter of actually capturing the > frequency from the hardware pin and converting it to a useable float. > The nist-lathe example appears to be using the motion module, and > trying to push the hardware bit into that counter example has failed > so far. I’m reading that EMC 2.1 trunk is depreciating the counter > module and replacing it with enhanced encoder module, but I’ve seen no > updated docs on it yet. > > My purpose is just to view the RPM on screen, as my mill spindle is > manual and not commanded by EMC (that will come later). I’m not > looking for closed loop here, just a gauge of RPM. > > Thanks, > > Ted. > - This SF.net email is sponsored by: Microsoft Defy all challenges. Microsoft(R) Visual Studio 2005. http://clk.atdmt.com/MRT/go/vse012070mrt/direct/01/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
[Emc-users] FW: RPM display from external sensor?
I’m looking to implement a measured RPM display via a single PPR trigger on my spindle. Let’s say it’s on parport.0.pin-13-in. I’ve used some of the web-mentioned articles to get the pyVCP display bar in Axis (that works ok), but it’s a matter of actually capturing the frequency from the hardware pin and converting it to a useable float. The nist-lathe example appears to be using the motion module, and trying to push the hardware bit into that counter example has failed so far. I’m reading that EMC 2.1 trunk is depreciating the counter module and replacing it with enhanced encoder module, but I’ve seen no updated docs on it yet. My purpose is just to view the RPM on screen, as my mill spindle is manual and not commanded by EMC (that will come later). I’m not looking for closed loop here, just a gauge of RPM. Thanks, Ted. No virus found in this outgoing message. Checked by AVG Free Edition. Version: 7.5.487 / Virus Database: 269.13.21/1012 - Release Date: 9/16/2007 6:32 PM - This SF.net email is sponsored by: Microsoft Defy all challenges. Microsoft(R) Visual Studio 2005. http://clk.atdmt.com/MRT/go/vse012070mrt/direct/01/___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] wireless network campatiblity?EMC2 Live CD
Ian, Each unit has its own MAC address. Devolo supply a little utility that lists all the plug units it can find on the mains network. All you do then is group the corresponding MAC addresses of your units (its pretty certain no one else will be using them!) into your own local network, you then set a password, which I think acts as a key for the embedded encryption in each unit. To be fair this bit was not so clear from the paper work that came with the units, I wondered for a few days how things were secured etc. as anyone on the same phase within 200-300m could pick up my traffic. I eventually found the utility after a bit of browsing on the supplied CD - almost a case of RTFM but not quite. Did you sort your machine problems out? Regards Andy -Original Message- From: [EMAIL PROTECTED] [mailto:[EMAIL PROTECTED] On Behalf Of [EMAIL PROTECTED] Sent: 17 September 2007 00:21 To: emc-users@lists.sourceforge.net Subject: [Emc-users] wireless network campatiblity?EMC2 Live CD > Eventually I found the Devolo ether over mains plugs. and have now switched off the router WiFi - it was always a pain to use + not that secure.>>> Hi, I've wondered about these myself and you seem to think they are more secure than a normal router (presumably with WEP encoding). What makes them more secure - what would stop someone else on your mains feed from the main power company transformer maybe several blocks away, picking up your signals and intercepting your web work or catching files you are transferring? -- Best wishes, Ian Ian W. Wright Sheffield UK "The difference between theory and practice is much smaller in theory than in practice..." - This SF.net email is sponsored by: Microsoft Defy all challenges. Microsoft(R) Visual Studio 2005. http://clk.atdmt.com/MRT/go/vse012070mrt/direct/01/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users - This SF.net email is sponsored by: Microsoft Defy all challenges. Microsoft(R) Visual Studio 2005. http://clk.atdmt.com/MRT/go/vse012070mrt/direct/01/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Install to a USB Key
If ubuntu thinks it's still on a live-cd, it won't write to the device at all. It should be possible to copy the cd's contents almost verbatim onto a flash device. You would need to set up the bootloader (grub), but other than that I think it would just work. (I recommend a compactflash-to-ide adapter and a 1Gig CF card.) http://www.google.com/search?q=copy+livecd+onto+flash+ubuntu http://www.debuntu.org/how-to-install-ubuntu-linux-on-usb-bar http://mailman.vyatta.com/pipermail/vyatta-users/2007-June/001610.html http://mailman.vyatta.com/pipermail/vyatta-users/2007-June/001614.html http://netthink.com/documents/building-our-own-linux-live-cd-step-by-step (these two looked a little confusing to me - different version, different goal) http://xubuntublog.wordpress.com/2007/06/17/ubuntu-feisty-on-your-usb-drive-finally/ https://help.ubuntu.com/community/Installation/FromUSBStick Mark --- AKSYS Tech Pty Ltd <[EMAIL PROTECTED]> wrote: > Hi > I am trying to install EMC using the Ubuntu live cd. I am trying > to > install to a USB key as my hard drive, as I am wanting to have a > solid > state hard drive. This key is a 8Gig stick. I get about 98% > through > the install but as soon as it starts to install the Grub > bootloader, the > install fails. Has anyone used a usb key as a hdd before??? Any > thoughts on what I should try next??? > > Regards > Andrew > > - > This SF.net email is sponsored by: Microsoft > Defy all challenges. Microsoft(R) Visual Studio 2005. > http://clk.atdmt.com/MRT/go/vse012070mrt/direct/01/> ___ > Emc-users mailing list > Emc-users@lists.sourceforge.net > https://lists.sourceforge.net/lists/listinfo/emc-users > - This SF.net email is sponsored by: Microsoft Defy all challenges. Microsoft(R) Visual Studio 2005. http://clk.atdmt.com/MRT/go/vse012070mrt/direct/01/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
