Re: [Emc-users] Hello everyone!
--- Jim Coleman [EMAIL PROTECTED] wrote: snip I'd like to get the tool changer fixed, one of the problems with the machine, the Y axis either encoder or amp malfunctioned, and ran the spindle into the tool changer arm and bent it up. and I need to figure out if its the encoder or amp, but I It could be the controller itself, rather than the encoder or drive - you did say the controller was going senile. should be able to hook the encoder's a and b to a parallel port and find out right? yup and use the parport to hook up the handle, its a 100 count encoder in a little box with XYZ 1 10 100 buttons. I plan on starting individual threads when I get things together (money for a mesa card, getting the machine moved...) and run into problems. The Mazak stuff will help you. First thing to test is the estop button. :) really looking forward to using emc, and glad I found it before I went with mach. Jim Coleman Mark - 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] Hello everyone!
I'm hooking up the encoder to parport circuit right now, decided to take a break from that and check the email. the mill is going to be set even farther back, until i can get my car fixed. i wrecked it tonight, a deer jumped out and between the brakes and swerving, i lost it. so if anyone has an 88 cavalier parts car they can give me cheap let me know haha. aside from minor body work the only thing that seems to be wrong is the fact that the rear driver side wheel found itself a new happy place a few inches toward the center of the car, and doesnt turn. i got the car home on it's own power at least, and for that im glad. i've been trying to keep my mind off of it, thus working on the encoder stuff but my solder and multimeter are conveniently out in the car :'( as for the wiring, i plan to keep most of the runs for like motors / linear scales and such in place, and everything else will likely get redone, maybe keep the power distribution for the servo amps as well. We're supposed to get it moved soon as harvesting is over, then i'll be able to spend more time diggin through everything. i managed to rip off the computer and the servo amps and power supply, its sittin in the shop waitin for the rest of the machine. i figured i could play with the amps and the motors on the table till they all goin good then put them back on the machine. i thank you all for your input so far Jim On 10/2/07, Mark Pictor [EMAIL PROTECTED] wrote: --- Jim Coleman [EMAIL PROTECTED] wrote: snip I'd like to get the tool changer fixed, one of the problems with the machine, the Y axis either encoder or amp malfunctioned, and ran the spindle into the tool changer arm and bent it up. and I need to figure out if its the encoder or amp, but I It could be the controller itself, rather than the encoder or drive - you did say the controller was going senile. should be able to hook the encoder's a and b to a parallel port and find out right? yup and use the parport to hook up the handle, its a 100 count encoder in a little box with XYZ 1 10 100 buttons. I plan on starting individual threads when I get things together (money for a mesa card, getting the machine moved...) and run into problems. The Mazak stuff will help you. First thing to test is the estop button. :) really looking forward to using emc, and glad I found it before I went with mach. Jim Coleman Mark - 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
[Emc-users] Desktop CNC Website Information
The information on this website: http://desktopcnc.com/control_table.htm seems to be out of date. I don't feel fully qualified to update this information, so I wonder if someone would be interested in pursuing it. If not, I can take a stab at it, but I can't guarantee accuracy (+/- .010 maybe). Thanks. Kirk Wallace - 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] Desktop CNC Website Information
I put a first pass edit of this table here: http://www.wallacecompany.com/cnc_lathe/control_table-kw1.htm Kirk Wallace ~~ On Tue, 2007-10-02 at 08:31 -0700, Kirk Wallace wrote: The information on this website: http://desktopcnc.com/control_table.htm seems to be out of date. I don't feel fully qualified to update this information, so I wonder if someone would be interested in pursuing it. If not, I can take a stab at it, but I can't guarantee accuracy (+/- .010 maybe). Thanks. Kirk Wallace - 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] Desktop CNC Website Information
Cool. A few changes though: Name: EMC2 Additional Hardware: optional Max Axes: 9 (XYZ linear, ABC angular, UVW linear) stepper/servo: both, simultaneously Number of G-codes: 63 (I looked at interp_internal.hh to see that) Limit Switches: well, this is an interesting one. you get 3 inputs per joint, so there could be 27 switch inputs Tool Setter: There is G-code to set tool lengths from a sensor, but I'm not positive it's production ready Tool Changer: Another gray area - there isn't really a software wedge - you'd generally use CL to make a TC work. You have the option of writing a piece of software as well. Digitizing Probe: Probing has been there about since day 1. I think there are some subroutines for probing areas, but I'm not sure. Support: There isn't a forum. There is email and IRC support. Thanks for taking the time to update that. - Steve Kirk Wallace wrote: I put a first pass edit of this table here: http://www.wallacecompany.com/cnc_lathe/control_table-kw1.htm Kirk Wallace ~~ On Tue, 2007-10-02 at 08:31 -0700, Kirk Wallace wrote: The information on this website: http://desktopcnc.com/control_table.htm seems to be out of date. I don't feel fully qualified to update this information, so I wonder if someone would be interested in pursuing it. If not, I can take a stab at it, but I can't guarantee accuracy (+/- .010 maybe). Thanks. Kirk Wallace - 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] Desktop CNC Website Information
the only other thing I can think of is that the max step/sec is a bit on the low side. But I don't know a good safe step rate to put on paper. (~20k/s w/Parport) - expecially because 2.2 will have doublefreq which will increase the step rate a bit more. sam - Original Message - From: Kirk Wallace [EMAIL PROTECTED] To: [EMAIL PROTECTED]; Enhanced Machine Controller (EMC) emc-users@lists.sourceforge.net Sent: Tuesday, October 02, 2007 1:51 PM Subject: Re: [Emc-users] Desktop CNC Website Information Updated here: http://www.wallacecompany.com/cnc_lathe/control_table-kw1a.htm Kirk Wallace ~~ On Tue, 2007-10-02 at 13:36 -0400, Stephen Wille Padnos wrote: Cool. A few changes though: Name: EMC2 Additional Hardware: optional Max Axes: 9 (XYZ linear, ABC angular, UVW linear) ... snip - 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] Desktop CNC Website Information
oh - and maybe a rigid tapping column.. The threading lathe/mill is a bit odd.. Mach does not do rigid tapping which I would concider the mill threading (it has yes/yes in that column). - Original Message - From: Sam Sokolik [EMAIL PROTECTED] To: Enhanced Machine Controller (EMC) emc-users@lists.sourceforge.net Sent: Tuesday, October 02, 2007 2:20 PM Subject: Re: [Emc-users] Desktop CNC Website Information the only other thing I can think of is that the max step/sec is a bit on the low side. But I don't know a good safe step rate to put on paper. (~20k/s w/Parport) - expecially because 2.2 will have doublefreq which will increase the step rate a bit more. sam - Original Message - From: Kirk Wallace [EMAIL PROTECTED] To: [EMAIL PROTECTED]; Enhanced Machine Controller (EMC) emc-users@lists.sourceforge.net Sent: Tuesday, October 02, 2007 1:51 PM Subject: Re: [Emc-users] Desktop CNC Website Information Updated here: http://www.wallacecompany.com/cnc_lathe/control_table-kw1a.htm Kirk Wallace ~~ On Tue, 2007-10-02 at 13:36 -0400, Stephen Wille Padnos wrote: Cool. A few changes though: Name: EMC2 Additional Hardware: optional Max Axes: 9 (XYZ linear, ABC angular, UVW linear) ... snip - 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 - 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] Robocrane
Hello Andrew, I just looked at the NIST site. The Robocrane is quite a complex project. I suspect that EMC should be able to serve as the foundation for your project since you can plug in your own kinematics and EMC is highly configurable hardware interface wise. I suspect the Robocrane is a step further in the hexapod evolution, so you should maybe study a search on hexapod at linuxcnc.org. Check these: http://wiki.linuxcnc.org/cgi-bin/emcinfo.pl?Alex_Joni's_Toy http://wiki.linuxcnc.org/cgi-bin/emcinfo.pl?Koppi's_Toy http://cvs.linuxcnc.org/lxr/source/configs/hexapod-sim/ Be prepared to create your own C code. If you haven't already done so, you might want to study the basics by getting a demo CD working: http://www.linuxcnc.org/content/view/21/4/lang,en/ Then interface an encoder to your parallel port using the etch-servo configuration (in Sample Configurations, study etch.ini and etch.hal for connection information) and a NetMOS parallel port card (lspci -v will come in handy). Then maybe drive a stepper or DC servo motor like this setup: http://emergent.unpy.net/projects/01142347802 I found a good motor and encoder in a junk Epson C-80 printer (sure hated to see that printer go). Good luck. I'll try to help, if I can. Others here are better at the nitty-gritty stuff. Kirk Wallace On Mon, 2007-10-01 at 16:29 -0400, [EMAIL PROTECTED] wrote: Dear enc-users: Hello my name is Andrew I am new to this list. I want to make a cable robot milling machine similar to the NIST 1meter robocrane milling machine. Any help would be appreciated. If this list is not relevant to obtain this kind of information, please direct me to where I can obtain it. I am starting from scratch. I want to obtain all relevant information before I start. Are there any simulations software that can be run on a PC. Thank you for your help, 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
Re: [Emc-users] Robocrane
Dear Kirk and all: Thank you for supplying me with relevant information. I think that Alex Joni's toy would give me needed information to implement a step in the right direction. I wonder if a tripod made more robust could do milling and routing. Best regards, Andrew - Original Message - From: Kirk Wallace [EMAIL PROTECTED] To: Enhanced Machine Controller (EMC) emc-users@lists.sourceforge.net Sent: Tuesday, October 02, 2007 3:30 PM Subject: Re: [Emc-users] Robocrane Hello Andrew, I just looked at the NIST site. The Robocrane is quite a complex project. I suspect that EMC should be able to serve as the foundation for your project since you can plug in your own kinematics and EMC is highly configurable hardware interface wise. I suspect the Robocrane is a step further in the hexapod evolution, so you should maybe study a search on hexapod at linuxcnc.org. Check these: http://wiki.linuxcnc.org/cgi-bin/emcinfo.pl?Alex_Joni's_Toy http://wiki.linuxcnc.org/cgi-bin/emcinfo.pl?Koppi's_Toy http://cvs.linuxcnc.org/lxr/source/configs/hexapod-sim/ Be prepared to create your own C code. If you haven't already done so, you might want to study the basics by getting a demo CD working: http://www.linuxcnc.org/content/view/21/4/lang,en/ Then interface an encoder to your parallel port using the etch-servo configuration (in Sample Configurations, study etch.ini and etch.hal for connection information) and a NetMOS parallel port card (lspci -v will come in handy). Then maybe drive a stepper or DC servo motor like this setup: http://emergent.unpy.net/projects/01142347802 I found a good motor and encoder in a junk Epson C-80 printer (sure hated to see that printer go). Good luck. I'll try to help, if I can. Others here are better at the nitty-gritty stuff. Kirk Wallace On Mon, 2007-10-01 at 16:29 -0400, [EMAIL PROTECTED] wrote: Dear enc-users: Hello my name is Andrew I am new to this list. I want to make a cable robot milling machine similar to the NIST 1meter robocrane milling machine. Any help would be appreciated. If this list is not relevant to obtain this kind of information, please direct me to where I can obtain it. I am starting from scratch. I want to obtain all relevant information before I start. Are there any simulations software that can be run on a PC. Thank you for your help, 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 -- No virus found in this incoming message. Checked by AVG Free Edition. Version: 7.5.488 / Virus Database: 269.13.39/1044 - Release Date: 10/2/2007 11:10 AM . - 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] Desktop CNC Website Information
On Tue, 2 Oct 2007 14:27:49 -0500, you wrote: oh - and maybe a rigid tapping column.. The threading lathe/mill is a bit odd.. Mach does not do rigid tapping which I would concider the mill threading (it has yes/yes in that column). Mach will do rigid tapping.. Steve Blackmore -- - 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] Desktop CNC Website Information
really - I was in on a converstion with art at the cncworkshop - he had said he thought mach would probably never do rigid tapping. Could you explain? I could see if you had the spindle setup as a rotory axis... but other than that I have no clue. Maybe some external hardware - doing it outside of mach?(I am not a mach person). sam - Original Message - From: Steve Blackmore [EMAIL PROTECTED] To: Enhanced Machine Controller (EMC) emc-users@lists.sourceforge.netou Sent: Tuesday, October 02, 2007 5:55 PM Subject: Re: [Emc-users] Desktop CNC Website Information On Tue, 2 Oct 2007 14:27:49 -0500, you wrote: oh - and maybe a rigid tapping column.. The threading lathe/mill is a bit odd.. Mach does not do rigid tapping which I would concider the mill threading (it has yes/yes in that column). Mach will do rigid tapping.. Steve Blackmore -- - 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: 7.5.488 / Virus Database: 269.13.39/1044 - Release Date: 10/2/2007 11:10 AM - 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] Desktop CNC Website Information
Hi Dean, I don't know why you are surprised. My understanding is that the Mach pulse generation engine sits under Windows, getting the timing interrupt very early, before windows has a change to waste it. I see no reason why it would not be as good. That said I haven't compared the two. At the moment Mach can now generate step pulses at 100KHz. Cheers, Peter. Dean Hedin wrote: I am surprized that Mach under Windows could out perform EMC in steps/sec since EMC is built on a realtime kernel. I presume it is therefore that it is the quality of steps that EMC is better at? In otherowrds EMC produces more accurate and precise steps. - Original Message - From: Sam Sokolik [EMAIL PROTECTED] To: Enhanced Machine Controller (EMC) emc-users@lists.sourceforge.net Sent: Tuesday, October 02, 2007 3:20 PM Subject: Re: [Emc-users] Desktop CNC Website Information the only other thing I can think of is that the max step/sec is a bit on the low side. But I don't know a good safe step rate to put on paper. (~20k/s w/Parport) - expecially because 2.2 will have doublefreq which will increase the step rate a bit more. sam - Original Message - From: Kirk Wallace [EMAIL PROTECTED] To: [EMAIL PROTECTED]; Enhanced Machine Controller (EMC) emc-users@lists.sourceforge.net Sent: Tuesday, October 02, 2007 1:51 PM Subject: Re: [Emc-users] Desktop CNC Website Information Updated here: http://www.wallacecompany.com/cnc_lathe/control_table-kw1a.htm Kirk Wallace ~~ On Tue, 2007-10-02 at 13:36 -0400, Stephen Wille Padnos wrote: Cool. A few changes though: Name: EMC2 Additional Hardware: optional Max Axes: 9 (XYZ linear, ABC angular, UVW linear) ... snip - 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 - 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 - http://www.homanndesigns.com - 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] Desktop CNC Website Information
On Tue, Oct 02, 2007 at 02:20:26PM -0500, Sam Sokolik wrote: the only other thing I can think of is that the max step/sec is a bit on the low side. But I don't know a good safe step rate to put on paper. (~20k/s w/Parport) - expecially because 2.2 will have doublefreq which will increase the step rate a bit more. A ~108kHz square wave on a standard PC parallel port, produced by emc TRUNK and captured on a scope: http://emergent.unpy.net/index.cgi-files/sandbox/img_7714-medium.jpg the scope measured the period as 9.182uS (but this figure varied as the scope ran); the pc says the period should be 9.219uS. This was not a full emc; it was the simplest hal configuration that will toggle an output pin at high rate: loadrt threads name1=fast period1=1 fp1=0 loadrt hal_parport cfg=0x378 addf parport.0.write fast addf parport.0.reset fast setp parport.0.pin-02-out 1 setp parport.0.pin-02-out-reset 1 start 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] Desktop CNC Website Information
Stephen Wille Padnos wrote: Dean Hedin wrote: I am surprized that Mach under Windows could out perform EMC in steps/sec since EMC is built on a realtime kernel. I presume it is therefore that it is the quality of steps that EMC is better at? In otherowrds EMC produces more accurate and precise steps. I haven't put Mach on a scope, so I can't comment on the quality of steps. Mach burns a lot of CPU time to place step pulses where they need to be. it has a regular interrupt, and then checks is any steps are needed before the next interrupt. If so, it puts the CPU into a wait loop until it is time for the next step, and generates the pulse. When higher step rates are needed, it can burn up to 50%, on average, of the available CPU time just in the step generation task. So, it has the ability to time step pulses BETWEEN the regularly scheduled interrupts. This is how Art gets the higher step rates, but it is a tradeoff. I don't think it is such a good idea to play music, and especially surf the web while machining. I do, however run my Pico Systems web server, email ftp server, etc., as well as my local network router, firewall and domain server all on an EMC distribution, and use the same machine to run EMC on hardware at my test bench. And, it handles that just fine. I don't usually play music or web surf on it, but I do get on the web when doing software updates. Running stepper or servo systems with a little hardware boost greatly reduces the load on the CPU. I had a customer's old system in for some upgrades, and found that a 400 MHz Pentium II is definitely getting to be the minimum performance for a Ubuntu 6.06-based EMC2 system. 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] Robocrane
Andrew, A tripod would not work at all for milling since it is not constrained rotationally. It would just flop around. In fact, the robo-crane was not too stable either. Adding more weight to the platform would help. It could mill styrofoam and had a hard time with wood. However, a real hexapod with solid struts is extremely rigid and one was used for ultra-precise milling of calibration fixtures at NIST. Fortunately for you, the NIST robocrane actually used EMC to control it. The genhexkins kinematics module does the transforms from cartesian coordinates to motor positions. All you have to do (famous last words) is edit core_sim_6.hal so that lines like 'linksp Xpos = axis.0.motor-pos-fb' point to the real motor/pid loop instead. Look at other non-sim configs for inspiration. (and RTFM) There are no computer visualizations of a hexapod in emc yet, but I'd like to write one. It should be easy enough using the vismach.py framework already in place as an example. John Storrs posted some non-visual simulation code on his excellent website laboratory for micro enterprise which i have archived here: http://fenn.dyndns.org/pub/www.i-way.co.uk/~storrs/lme/hexapod-1.1.html You should read the rest of that website if you haven't already. Best of luck -fenn On Tue, 2 Oct 2007, [EMAIL PROTECTED] wrote: Dear Kirk and all: Thank you for supplying me with relevant information. I think that Alex Joni's toy would give me needed information to implement a step in the right direction. I wonder if a tripod made more robust could do milling and routing. Best regards, Andrew - Original Message - From: Kirk Wallace [EMAIL PROTECTED] To: Enhanced Machine Controller (EMC) emc-users@lists.sourceforge.net Sent: Tuesday, October 02, 2007 3:30 PM Subject: Re: [Emc-users] Robocrane Hello Andrew, I just looked at the NIST site. The Robocrane is quite a complex project. I suspect that EMC should be able to serve as the foundation for your project since you can plug in your own kinematics and EMC is highly configurable hardware interface wise. I suspect the Robocrane is a step further in the hexapod evolution, so you should maybe study a search on hexapod at linuxcnc.org. Check these: http://wiki.linuxcnc.org/cgi-bin/emcinfo.pl?Alex_Joni's_Toy http://wiki.linuxcnc.org/cgi-bin/emcinfo.pl?Koppi's_Toy http://cvs.linuxcnc.org/lxr/source/configs/hexapod-sim/ Be prepared to create your own C code. If you haven't already done so, you might want to study the basics by getting a demo CD working: http://www.linuxcnc.org/content/view/21/4/lang,en/ Then interface an encoder to your parallel port using the etch-servo configuration (in Sample Configurations, study etch.ini and etch.hal for connection information) and a NetMOS parallel port card (lspci -v will come in handy). Then maybe drive a stepper or DC servo motor like this setup: http://emergent.unpy.net/projects/01142347802 I found a good motor and encoder in a junk Epson C-80 printer (sure hated to see that printer go). Good luck. I'll try to help, if I can. Others here are better at the nitty-gritty stuff. Kirk Wallace On Mon, 2007-10-01 at 16:29 -0400, [EMAIL PROTECTED] wrote: Dear enc-users: Hello my name is Andrew I am new to this list. I want to make a cable robot milling machine similar to the NIST 1meter robocrane milling machine. Any help would be appreciated. If this list is not relevant to obtain this kind of information, please direct me to where I can obtain it. I am starting from scratch. I want to obtain all relevant information before I start. Are there any simulations software that can be run on a PC. Thank you for your help, 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 -- No virus found in this incoming message. Checked by AVG Free Edition. Version: 7.5.488 / Virus Database: 269.13.39/1044 - Release Date: 10/2/2007 11:10 AM . - 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.
