Re: [Emc-users] changing emcmodule.cc and axis.py
Stuart, You didn't by any chance comment out an include file did you? Did you clean out the old files left behind by a previous make? Mark At 12:06 AM 8/24/2008, you wrote: Gentlemen, When I download the emc2-trunk and compile it works fine. After I make a change to emcmodule.cc I get this error. When I restore the original file I get this same error. Obviously I am doing something wrong. Any ideas? Compiling emc/usr_intf/axis/extensions/emcmodule.cc emc/usr_intf/axis/extensions/emcmodule.cc: In function 'PyObject* Stat_axis_one(pyStatChannel*, int)': emc/usr_intf/axis/extensions/emcmodule.cc:556: error: 'class EMC_AXIS_STAT' has no member named 'inputScale' emc/usr_intf/axis/extensions/emcmodule.cc:557: error: 'class EMC_AXIS_STAT' has no member named 'inputOffset' emc/usr_intf/axis/extensions/emcmodule.cc:558: error: 'class EMC_AXIS_STAT' has no member named 'outputScale' emc/usr_intf/axis/extensions/emcmodule.cc:559: error: 'class EMC_AXIS_STAT' has no member named 'outputOffset' emc/usr_intf/axis/extensions/emcmodule.cc:562: error: 'class EMC_AXIS_STAT' has no member named 'minOutputLimit' emc/usr_intf/axis/extensions/emcmodule.cc:563: error: 'class EMC_AXIS_STAT' has no member named 'maxOutputLimit' emc/usr_intf/axis/extensions/emcmodule.cc:567: error: 'class EMC_AXIS_STAT' has no member named 'setup_time' emc/usr_intf/axis/extensions/emcmodule.cc:568: error: 'class EMC_AXIS_STAT' has no member named 'hold_time' emc/usr_intf/axis/extensions/emcmodule.cc: At global scope: emc/usr_intf/axis/extensions/emcmodule.cc:1462: warning: 'void rotate_z(double*, double)' defined but not used make: *** [objects/emc/usr_intf/axis/extensions/emcmodule.o] Error 1 thanks Stuart - This SF.Net email is sponsored by the Moblin Your Move Developer's challenge Build the coolest Linux based applications with Moblin SDK win great prizes Grand prize is a trip for two to an Open Source event anywhere in the world http://moblin-contest.org/redirect.php?banner_id=100url=/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
[Emc-users] arduino usage
I just found this page http://axis.unpy.net/01198594294 about the hal interface for arduino. I haven't done anything with the HAL interface yet, since everything works out of the box. But at some point I assume I will run out of parallel port pins. So, the arduino might be nice to use for some extra IO pins to switch of some extra light for the tool tip, coolant pump or maybe even turn up the music volume when the spindle switches on. You can use this in addition to the parallel port I hope? Dirk - This SF.Net email is sponsored by the Moblin Your Move Developer's challenge Build the coolest Linux based applications with Moblin SDK win great prizes Grand prize is a trip for two to an Open Source event anywhere in the world http://moblin-contest.org/redirect.php?banner_id=100url=/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
[Emc-users] arduino for driving steppermotors
In addition to my previous question. Is it also possible to use the arduino to drive a machine? I am also working on a small hexapod (only 3D movement, no tool orientation).Something like this: http://gizmodo.com/371917/abb-flexpicker-robots-legs-move-so-fast-its-scary http://www.youtube.com/watch?v=yxsgu_uzxQQfeature=related I got the idea from a demo with java realtime but I can't find the movie anymore. Is it possible to drive it with the arduino board? It is just 3 steppermotors which will be controlled with a step and direction pin. I don't care about speed at this moment. The hexapod is only a toy from some steppers out of the junk box. I am only making it because of my fascination for these things. If I have the drivers working, all very straightforward and simple, I'll probably test it on the desk with an arduino. It would be a very easy and small step to move the machine to the emc2 computer with an arduino board attached to it. The advantage of using the arduino instead of the parallel port is that I don't have to touch the mill which is on the parallel port. Aother parallel port is of course also an option. Dirk - This SF.Net email is sponsored by the Moblin Your Move Developer's challenge Build the coolest Linux based applications with Moblin SDK win great prizes Grand prize is a trip for two to an Open Source event anywhere in the world http://moblin-contest.org/redirect.php?banner_id=100url=/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Checking MPG operation
Jon, On my BP mill with an Analam control I have a MPG. The MPG only works when I have 0.0001, 0.001, and 0.01 selected. It is disabled when jog and rapid is selected. Each click of the MPG gives me one unit of what is selected. With 0.01 selected it will move along at about 20 IPM when I spin the dial. All the MPG's I have seen on commerical controls work this same way. I'm guessing that the continue to move is just EMC catching up to your jog somehow. I put jog buttons on my plasma and they work fine. John On 24 Aug 2008 at 1:08, Jon Elson wrote: I put a jog dial (MPG) on my mill running with EMC2 after the recent CNC Workshop. It works great. Jeff Eppler showed me how to do it and created a low-pass filter for the jog function, to keep from buzzing the servos. Something I just noticed is that the jog overshoots when the jog override slider is at, say, 50%. It gives excellent jogging response at 100%. I'm guessing that when I try to jog above 50% with the jog dial, and the jog rate set for it with a jog rate switch that sets the value of axis.n.jog-scale, then EMC limits the velocity to 50%, and the rest of the commanded move is played out after the jog dial stops moving at a rate that would need over 50% jog speed. Could anyone else with a jog dial check this behavior out and see if your system does it, too? Thes business of continuing to move after you stop turning the dial is not an optimum behavior, although I'm not sure what is the best way to handle this. My guess is to have the jog dial not obey the jog override at all would be best, or to have the excess movement commanded by the dial to be truncated would be the second best. But, having movement continue after you stop turning the dial is obviously the worst behavior. I just wanted to make sure it wasn't a side effect of the low-pass filter or some other aspect of my PPMC driver/boards. Thanks, Jon -- --- This SF.Net email is sponsored by the Moblin Your Move Developer's challenge Build the coolest Linux based applications with Moblin SDK win great prizes Grand prize is a trip for two to an Open Source event anywhere in the world http://moblin-contest.org/redirect.php?banner_id=100url=/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users - This SF.Net email is sponsored by the Moblin Your Move Developer's challenge Build the coolest Linux based applications with Moblin SDK win great prizes Grand prize is a trip for two to an Open Source event anywhere in the world http://moblin-contest.org/redirect.php?banner_id=100url=/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
[Emc-users] Puma560
Hi all. This is my first post on emc so sorry if I haven't done it the correct way... I have a Puma560 robot but the old control system for it has seen better days and doesn't work at all now. What I'd like to do is build a new one to connect to the existing arm. Having searched the web I came across you guys and thought you may be able to help! Has anyone out there done it? If so, can you help please? I could really do with being pointed in the right direction as to hardware requirements (servo amplifier, encoder i/p to the pc etc) and software to run the robot including the IK. Any thoughts much appreciated. Thanks. Jonathan (London UK) Send instant messages to your online friends http://uk.messenger.yahoo.com - This SF.Net email is sponsored by the Moblin Your Move Developer's challenge Build the coolest Linux based applications with Moblin SDK win great prizes Grand prize is a trip for two to an Open Source event anywhere in the world http://moblin-contest.org/redirect.php?banner_id=100url=/___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
[Emc-users] AXIS display/font rendering
I'm running EMC 2.2.6 on 3 systems. I use Axis on all setups. The character font in the Axis display is somewhat difficult to see. The characters appear as though they were created on a dot matrix printer. Is this configurable somewhere? I assume it is set to some default that works for everyone. Since this appears the same across 3 different systems, I don't think it is the graphics driver, but I could be wrong. Suggestions? -- Regards, Doug Goff [EMAIL PROTECTED] www.woodntractors.com Scale Tractors In Wood - This SF.Net email is sponsored by the Moblin Your Move Developer's challenge Build the coolest Linux based applications with Moblin SDK win great prizes Grand prize is a trip for two to an Open Source event anywhere in the world http://moblin-contest.org/redirect.php?banner_id=100url=/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] changing emcmodule.cc and axis.py
You didn't by any chance comment out an include file did you? Did you clean out the old files left behind by a previous make? Mark I commented nothing out of either file. I did not clean old files. Do I need to do a 'make clean'? thanks Stuart - This SF.Net email is sponsored by the Moblin Your Move Developer's challenge Build the coolest Linux based applications with Moblin SDK win great prizes Grand prize is a trip for two to an Open Source event anywhere in the world http://moblin-contest.org/redirect.php?banner_id=100url=/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] changing emcmodule.cc and axis.py
I recently removed those items, they were no longer used. (they were emc1 settings that have always been in hal in emc2) if you copied emcmodule.cc from 2.2 or an older TRUNK checkout into a fresh TRUNK checkout, then you might get this error. If this is what is going on, you can fix it by removing the lines shown here with - at the beginning: http://cvs.linuxcnc.org/cvs/emc2/src/emc/usr_intf/axis/extensions/emcmodule.cc.diff?r1=1.31;r2=1.32 --- emc2/src/emc/usr_intf/axis/extensions/emcmodule.cc 2008/08/16 23:56:041.31 +++ emc2/src/emc/usr_intf/axis/extensions/emcmodule.cc 2008/08/18 01:11:181.32 @@ -553,19 +553,11 @@ static PyObject *Stat_axis_one(pyStatCha F2(max_error, maxError); F(deadband); F2(cycle_type, cycleTime); -F2(input_scale, inputScale); -F2(input_offset, inputOffset); -F2(output_scale, outputScale); -F2(output_offset, outputOffset); F2(min_position_limit, minPositionLimit); F2(max_position_limit, maxPositionLimit); -F2(min_output_limit, minOutputLimit); -F2(max_output_limit, maxOutputLimit); F2(max_ferror, maxFerror); F2(min_ferror, minFerror); F2(homing_vel, homingVel); -F(setup_time); -F(hold_time); F2(home_offset, homeOffset); F(setpoint); F2(ferror_current, ferrorCurrent); Jeff - This SF.Net email is sponsored by the Moblin Your Move Developer's challenge Build the coolest Linux based applications with Moblin SDK win great prizes Grand prize is a trip for two to an Open Source event anywhere in the world http://moblin-contest.org/redirect.php?banner_id=100url=/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] arduino for driving steppermotors
The interface between emc and arduino described on my web page -- http://axis.unpy.net/01198594294 -- is not suitable for real-time I/O, which is required for motors. It is suitable for I/O where delays are tolerable. Some uses I envision would include controlling the spindle or starting, stopping, and pausing gcode programs while they run. Yes, you can mix and match I/O devices--parport for motor control plus arduino for the odds and ends should work nicely. Just add the directive to load the arduino interface component to your custom hal file and then create the connections you want with net commands. Jeff - This SF.Net email is sponsored by the Moblin Your Move Developer's challenge Build the coolest Linux based applications with Moblin SDK win great prizes Grand prize is a trip for two to an Open Source event anywhere in the world http://moblin-contest.org/redirect.php?banner_id=100url=/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] arduino for driving steppermotors
On 24 aug 2008, at 17:13, Jeff Epler wrote: The interface between emc and arduino described on my web page -- http://axis.unpy.net/01198594294 -- is not suitable for real-time I/ O, which is required for motors. It is suitable for I/O where delays are tolerable. Some uses I envision would include controlling the spindle or starting, stopping, and pausing gcode programs while they run. I don't care about the realtime for this moment. I do care for something to do the calculations to a cartesian system. And now I might be pushing it, but I might even try to get it working with a bluetooth dongle and a bluetooth arduino. That way I can make a (if battery powered) wireless machine. Well, let's not get carried away. I have to finish the parts first. Yes, you can mix and match I/O devices--parport for motor control plus arduino for the odds and ends should work nicely. Just add the directive to load the arduino interface component to your custom hal file and then create the connections you want with net commands. Very nice, I will give it try in the next few days. Dirk - This SF.Net email is sponsored by the Moblin Your Move Developer's challenge Build the coolest Linux based applications with Moblin SDK win great prizes Grand prize is a trip for two to an Open Source event anywhere in the world http://moblin-contest.org/redirect.php?banner_id=100url=/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] changing emcmodule.cc and axis.py
I recently removed those items, they were no longer used. (they were emc1 settings that have always been in hal in emc2) if you copied emcmodule.cc from 2.2 or an older TRUNK checkout into a fresh TRUNK checkout, then you might get this error. If this is what is going on, you can fix it by removing the lines shown here with - at the beginning: http://cvs.linuxcnc.org/cvs/emc2/src/emc/usr_intf/axis/extensions/emcmodule.cc.diff?r1=1.31;r2=1.32 --- emc2/src/emc/usr_intf/axis/extensions/emcmodule.cc 2008/08/16 23:56:041.31 +++ emc2/src/emc/usr_intf/axis/extensions/emcmodule.cc 2008/08/18 01:11:181.32 @@ -553,19 +553,11 @@ static PyObject *Stat_axis_one(pyStatCha F2(max_error, maxError); F(deadband); F2(cycle_type, cycleTime); -F2(input_scale, inputScale); -F2(input_offset, inputOffset); -F2(output_scale, outputScale); -F2(output_offset, outputOffset); F2(min_position_limit, minPositionLimit); F2(max_position_limit, maxPositionLimit); -F2(min_output_limit, minOutputLimit); -F2(max_output_limit, maxOutputLimit); F2(max_ferror, maxFerror); F2(min_ferror, minFerror); F2(homing_vel, homingVel); -F(setup_time); -F(hold_time); F2(home_offset, homeOffset); F(setpoint); F2(ferror_current, ferrorCurrent); Jeff This was a trunk checkout yesterday. I will remove the lines. It seemed to compile prior to my editing the file and compiling. Hence, my thoughts of my corrupting something. thanks Stuart - This SF.Net email is sponsored by the Moblin Your Move Developer's challenge Build the coolest Linux based applications with Moblin SDK win great prizes Grand prize is a trip for two to an Open Source event anywhere in the world http://moblin-contest.org/redirect.php?banner_id=100url=/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Puma560
-- Message: 3 Date: Sun, 24 Aug 2008 12:15:01 + (GMT) From: Jonathan Hancock [EMAIL PROTECTED] Subject: [Emc-users] Puma560 To: emc-users@lists.sourceforge.net Message-ID: [EMAIL PROTECTED] Content-Type: text/plain; charset=utf-8 Hi all. This is my first post on emc so sorry if I haven't done it the correct way... ? I have a Puma560 robot but the old control system for it has seen better days and doesn't work at all now. What I'd like to do is build a new one to connect to the existing arm. ? Having searched the web I came across you guys and thought you may be able to help! Has anyone out there done it? If so, can you help please? I?could really do with being pointed in the right direction as to hardware requirements (servo amplifier, encoder i/p to the pc etc) and software to run the robot including the IK. ? Any thoughts much appreciated. Thanks. Jonathan (London UK) Send instant messages to your online friends http://uk.messenger.yahoo.com -- next part -- An HTML attachment was scrubbed... If the amps are functioning you can use them with EMC2. Encoders also. Most, if not all, of the other I/O can be reused if currently functioning. This would give you a running system as cheap as possible. An old computer and an I/O board. I can recommend Jon Elson's stuff at pico-systems.com. I am sure others can recommend other I/O schemes as well. This sounds like a fun project. I have a robot also. http://www.mpm1.com:8080/machines/american_robot/ I will be very interested to see your progress. thanks Stuart - This SF.Net email is sponsored by the Moblin Your Move Developer's challenge Build the coolest Linux based applications with Moblin SDK win great prizes Grand prize is a trip for two to an Open Source event anywhere in the world http://moblin-contest.org/redirect.php?banner_id=100url=/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Checking MPG operation
Could anyone else with a jog dial check this behavior out and see if your system does it, too? I just wanted to make sure it wasn't a side effect of the low-pass filter or some other aspect of my PPMC driver/boards. My MPG + m5i20 setup works the same as yours, i.e. machine continues to move after mpg-wheel is stopped if the feed-override is lower than 100%. When feed override is 100% my MPG works fine. So it seems this is an EMC issue which needs fixing! Is the way you use a low-pass filter documented in the wiki or in the manual ? I could try that some day. Anders - This SF.Net email is sponsored by the Moblin Your Move Developer's challenge Build the coolest Linux based applications with Moblin SDK win great prizes Grand prize is a trip for two to an Open Source event anywhere in the world http://moblin-contest.org/redirect.php?banner_id=100url=/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Checking MPG operation
Anders Wallin wrote: Could anyone else with a jog dial check this behavior out and see if your system does it, too? My MPG + m5i20 setup works the same as yours, i.e. machine continues to move after mpg-wheel is stopped if the feed-override is lower than 100%. When feed override is 100% my MPG works fine. So it seems this is an EMC issue which needs fixing! Which jogwheel mode are you using? EMC has two modes, controlled by the HAL pins axis.N.jog-vel-mode. The default is for that pin to be false, and wheel jogging is in position mode. In position mode, if you are at 0.01 per click, and you turn the wheel 20 clicks, you WILL get 20 x 0.01 or 0.200 of motion. It doesn't matter how fast or slow you turn the wheel, or how slow EMC can move due to feed override - you will get what you asked for. If you turn the wheel quickly and EMC can only move slowly, it will keep moving after the wheel stops until it catches up. This is NOT a bug. If you set the jog-vel-mode pin true, jogging is in velocity mode. In velocity mode, EMC should stop when the wheel stops. If you are in velocity mode and it keeps going, that might be a bug - please document the details so somebody can reproduce it, and submit a bug report. Regards, John Kasunich - This SF.Net email is sponsored by the Moblin Your Move Developer's challenge Build the coolest Linux based applications with Moblin SDK win great prizes Grand prize is a trip for two to an Open Source event anywhere in the world http://moblin-contest.org/redirect.php?banner_id=100url=/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Checking MPG operation
If you turn the wheel quickly and EMC can only move slowly, it will keep moving after the wheel stops until it catches up. This is NOT a bug. I am using position-mode, and I am guessing that Jon is too. Bug or not, it is surprising behavior to the MPG/EMC2 user (perhaps not to the EMC2 developer...). Anders - This SF.Net email is sponsored by the Moblin Your Move Developer's challenge Build the coolest Linux based applications with Moblin SDK win great prizes Grand prize is a trip for two to an Open Source event anywhere in the world http://moblin-contest.org/redirect.php?banner_id=100url=/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Checking MPG operation
Anders Wallin wrote: If you turn the wheel quickly and EMC can only move slowly, it will keep moving after the wheel stops until it catches up. This is NOT a bug. I am using position-mode, and I am guessing that Jon is too. Bug or not, it is surprising behavior to the MPG/EMC2 user (perhaps not to the EMC2 developer...). Why is it surprising? If you have a knob with lines and numbers around it, and you turn it a fixed distance, don't you expect the machine to move the same distance? If it was a manual machine, you would be astonished if you turned the handwheel by 0.200 and the machine only moved 0.150. Granted, it is a bit unnatural to have the machine lag behind the wheel, if it was a manual machine that would be impossible. When the jog increments are small, it doesn't happen with EMC either, because the machine can move faster than your hand can drive the wheel. But if you have large increments, you can crank in many inches of movement faster than the machine can move, and then it needs to catch up. Regards, John Kasunich - This SF.Net email is sponsored by the Moblin Your Move Developer's challenge Build the coolest Linux based applications with Moblin SDK win great prizes Grand prize is a trip for two to an Open Source event anywhere in the world http://moblin-contest.org/redirect.php?banner_id=100url=/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Checking MPG operation
Why is it surprising? If you have a knob with lines and numbers around it, and you turn it a fixed distance, don't you expect the machine to move the same distance? If it was a manual machine, you would be astonished if you turned the handwheel by 0.200 and the machine only moved 0.150. For me I think I imagine the cnc-machine as a manual mill when using the MPG. I imagine myself turning the handwheel on a manual mill and it is surprising because the machine keeps moving after I have stopped turning the wheel. It would also be safer if the machine stopped when the wheel stops. - This SF.Net email is sponsored by the Moblin Your Move Developer's challenge Build the coolest Linux based applications with Moblin SDK win great prizes Grand prize is a trip for two to an Open Source event anywhere in the world http://moblin-contest.org/redirect.php?banner_id=100url=/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Checking MPG operation
On Sun, 2008-08-24 at 13:18 -0400, John Kasunich wrote: ... snip If you turn the wheel quickly and EMC can only move slowly, it will keep moving after the wheel stops until it catches up. This is NOT a bug. I think it would be better to consider a jog wheel and MPG (manual pulse generator) as two separate and different things. A jog wheel might be considered a means of providing pulse inputs of a general nature and should not have a graduated wheel, similar to jog buttons and joysticks. An MPG should be considered a means of entering in definite numerical input, thus requiring a graduated wheel, and operation with this in mind. Maybe axis. should handle these as separate HAL components. Kirk Wallace - This SF.Net email is sponsored by the Moblin Your Move Developer's challenge Build the coolest Linux based applications with Moblin SDK win great prizes Grand prize is a trip for two to an Open Source event anywhere in the world http://moblin-contest.org/redirect.php?banner_id=100url=/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Checking MPG operation
On Sun, 2008-08-24 at 21:20 +0300, Anders Wallin wrote: I am using position-mode, and I am guessing that Jon is too. Bug or not, it is surprising behavior to the MPG/EMC2 user (perhaps not to the EMC2 developer...). I don't think the computers geeks came up with this to torment the the chip jockeys. There is a clear basis for having this MPG behavior. For me I think I imagine the cnc-machine as a manual mill when using the MPG. I imagine myself turning the handwheel on a manual mill and it is surprising because the machine keeps moving after I have stopped turning the wheel. It would also be safer if the machine stopped when the wheel stops. It would be safer to have the machine operator know the proper use of his/her tools. Please, don't take this as being insulting. I am just trying to clarify my position on this matter. Kirk Wallace - This SF.Net email is sponsored by the Moblin Your Move Developer's challenge Build the coolest Linux based applications with Moblin SDK win great prizes Grand prize is a trip for two to an Open Source event anywhere in the world http://moblin-contest.org/redirect.php?banner_id=100url=/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Puma560
Jonathan Hancock wrote: Hi all. This is my first post on emc so sorry if I haven't done it the correct way... I have a Puma560 robot but the old control system for it has seen better days and doesn't work at all now. What I'd like to do is build a new one to connect to the existing arm. Having searched the web I came across you guys and thought you may be able to help! Has anyone out there done it? If so, can you help please? I could really do with being pointed in the right direction as to hardware requirements (servo amplifier, encoder i/p to the pc etc) and software to run the robot including the IK. Well, what kind of motors does it have? DC brush? What kind of encoders? Are the servo amps usable, or are then in need of replacement, too? Jon - This SF.Net email is sponsored by the Moblin Your Move Developer's challenge Build the coolest Linux based applications with Moblin SDK win great prizes Grand prize is a trip for two to an Open Source event anywhere in the world http://moblin-contest.org/redirect.php?banner_id=100url=/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Checking MPG operation
Anders Wallin wrote: Could anyone else with a jog dial check this behavior out and see if your system does it, too? I just wanted to make sure it wasn't a side effect of the low-pass filter or some other aspect of my PPMC driver/boards. My MPG + m5i20 setup works the same as yours, i.e. machine continues to move after mpg-wheel is stopped if the feed-override is lower than 100%. When feed override is 100% my MPG works fine. So it seems this is an EMC issue which needs fixing! Ok, thanks for the feedback. So, it is not something particular to my system, then. Is the way you use a low-pass filter documented in the wiki or in the manual ? I could try that some day. The L.P. filter component is new, it was added to the CVS after the CNC Workshop this June. Depending on your EMC version, it may or may not have it. ilowpass is the component name. This is the pendant file that I added on to a 6-axis system I recently set up. It had a 400 count/rev MPG encoder, so that is why the .xxx25 constants are used for the jog scale. I had to play around with the scale and gain parameters on the ilowpass to get the right amount of smoothing without making the dial response seem sluggish. Jon pendant.hal follows ** loadrt mux4 count=1 loadrt ilowpass setp ilowpass.0.scale 100 setp ilowpass.0.gain .01 addf mux4.0 servo-thread addf ilowpass.0 servo-thread net jog-x ppmc.0.din.24.in = axis.0.jog-enable net jog-y ppmc.0.din.25.in = axis.1.jog-enable net jog-z ppmc.0.din.26.in = axis.2.jog-enable net jog-a ppmc.0.din.27.in = axis.3.jog-enable net jog-b ppmc.0.din.28.in = axis.4.jog-enable net jog-c ppmc.0.din.29.in = axis.5.jog-enable net x10 ppmc.0.din.30.in = mux4.0.sel0 net x100 ppmc.0.din.23.in = mux4.0.sel1 setp mux4.0.in0 .0025 setp mux4.0.in1 .025 setp mux4.0.in2 .25 setp mux4.0.in3 0 net jogscale mux4.0.out = axis.0.jog-scale net jogscale= axis.1.jog-scale net jogscale= axis.2.jog-scale net jogscale= axis.3.jog-scale net jogscale= axis.4.jog-scale net jogscale= axis.5.jog-scale net rawjogcounts ppmc.0.encoder.06.count = ilowpass.0.in net jogcounts ilowpass.0.out = axis.0.jog-counts net jogcounts= axis.1.jog-counts net jogcounts= axis.2.jog-counts net jogcounts= axis.3.jog-counts net jogcounts= axis.4.jog-counts net jogcounts= axis.5.jog-counts - This SF.Net email is sponsored by the Moblin Your Move Developer's challenge Build the coolest Linux based applications with Moblin SDK win great prizes Grand prize is a trip for two to an Open Source event anywhere in the world http://moblin-contest.org/redirect.php?banner_id=100url=/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Checking MPG operation
John Kasunich wrote: Anders Wallin wrote: Could anyone else with a jog dial check this behavior out and see if your system does it, too? My MPG + m5i20 setup works the same as yours, i.e. machine continues to move after mpg-wheel is stopped if the feed-override is lower than 100%. When feed override is 100% my MPG works fine. So it seems this is an EMC issue which needs fixing! Which jogwheel mode are you using? EMC has two modes, controlled by the HAL pins axis.N.jog-vel-mode. The default is for that pin to be false, and wheel jogging is in position mode. Yes, it must be in the default position mode. In position mode, if you are at 0.01 per click, and you turn the wheel 20 clicks, you WILL get 20 x 0.01 or 0.200 of motion. It doesn't matter how fast or slow you turn the wheel, or how slow EMC can move due to feed override - you will get what you asked for. If you turn the wheel quickly and EMC can only move slowly, it will keep moving after the wheel stops until it catches up. This is NOT a bug. Not saying it is a bug, but it might be undesirable behavior. If you set the jog-vel-mode pin true, jogging is in velocity mode. In velocity mode, EMC should stop when the wheel stops. If you are in velocity mode and it keeps going, that might be a bug - please document the details so somebody can reproduce it, and submit a bug report. But, in velocity mode, will it keep up with the encoder counts up to the max velocity? That might be what I should be using, then. I will try it! But, finally, when in position mode, why should the jog override slider affect how the MPG controls the machine? The dial sends not only position but velocity information, so the jog override slider is redundant for MPG moves. Any thoughts? Jon - This SF.Net email is sponsored by the Moblin Your Move Developer's challenge Build the coolest Linux based applications with Moblin SDK win great prizes Grand prize is a trip for two to an Open Source event anywhere in the world http://moblin-contest.org/redirect.php?banner_id=100url=/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Puma560
On Sun, 2008-08-24 at 12:15 +, Jonathan Hancock wrote: Hi all. This is my first post on emc so sorry if I haven't done it the correct way... I have a Puma560 robot but the old control system for it has seen better days and doesn't work at all now. What I'd like to do is build a new one to connect to the existing arm. After I tore my Hardinge lathe apart beyond repair, I found lose connections throughout the machine. I believe, I might have gotten it working in stock form if I had checked all of the connections first. Of course, I have a much better machine now that it is running on EMC2. Having searched the web I came across you guys and thought you may be able to help! Has anyone out there done it? If so, can you help please? I could really do with being pointed in the right direction as to hardware requirements (servo amplifier, encoder i/p to the pc etc) and software to run the robot including the IK. I'll be watching for how this turns out. I wish I had the resources to convert a Puma class robot for use as a machine operator/tool/workpiece changer. Kirk Wallace - This SF.Net email is sponsored by the Moblin Your Move Developer's challenge Build the coolest Linux based applications with Moblin SDK win great prizes Grand prize is a trip for two to an Open Source event anywhere in the world http://moblin-contest.org/redirect.php?banner_id=100url=/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Checking MPG operation
Kirk Wallace wrote: On Sun, 2008-08-24 at 21:20 +0300, Anders Wallin wrote: I am using position-mode, and I am guessing that Jon is too. Bug or not, it is surprising behavior to the MPG/EMC2 user (perhaps not to the EMC2 developer...). I don't think the computers geeks came up with this to torment the the chip jockeys. There is a clear basis for having this MPG behavior. For me I think I imagine the cnc-machine as a manual mill when using the MPG. I imagine myself turning the handwheel on a manual mill and it is surprising because the machine keeps moving after I have stopped turning the wheel. It would also be safer if the machine stopped when the wheel stops. It would be safer to have the machine operator know the proper use of his/her tools. Please, don't take this as being insulting. I am just trying to clarify my position on this matter. Nobody should be insulted. We had this debate about a year or so ago, and velocity mode was the result. Instead of debating it, each person should try both modes and use the one they like best. Regards, John Kasunich - This SF.Net email is sponsored by the Moblin Your Move Developer's challenge Build the coolest Linux based applications with Moblin SDK win great prizes Grand prize is a trip for two to an Open Source event anywhere in the world http://moblin-contest.org/redirect.php?banner_id=100url=/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Checking MPG operation
John Kasunich wrote: Kirk Wallace wrote: On Sun, 2008-08-24 at 21:20 +0300, Anders Wallin wrote: I am using position-mode, and I am guessing that Jon is too. Bug or not, it is surprising behavior to the MPG/EMC2 user (perhaps not to the EMC2 developer...). I don't think the computers geeks came up with this to torment the the chip jockeys. There is a clear basis for having this MPG behavior. For me I think I imagine the cnc-machine as a manual mill when using the MPG. I imagine myself turning the handwheel on a manual mill and it is surprising because the machine keeps moving after I have stopped turning the wheel. It would also be safer if the machine stopped when the wheel stops. It would be safer to have the machine operator know the proper use of his/her tools. Please, don't take this as being insulting. I am just trying to clarify my position on this matter. Nobody should be insulted. We had this debate about a year or so ago, and velocity mode was the result. Instead of debating it, each person should try both modes and use the one they like best. Or even use both modes, depending on what they're doing. Since the jog.counts inputs are ignored when axis.n.jog-enable is false, you shouyld be able to change modes while not moving the wheel and/or jogging is disabled. So you could use vel mode to spin close to the right spot, then once you reach a base position, flip to position mode and dial in the number of clicks you want. Note that position mode was the original implementation, and the mode where it stops when the wheel stops is the addidtion - this doesn't represent a change from the old behavior, it's an additional feature. - Steve - This SF.Net email is sponsored by the Moblin Your Move Developer's challenge Build the coolest Linux based applications with Moblin SDK win great prizes Grand prize is a trip for two to an Open Source event anywhere in the world http://moblin-contest.org/redirect.php?banner_id=100url=/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Checking MPG operation
If you want a graduated wheel then you have to turn it slow enough that the machine can keep up. There isn't any real way round this. Even expensive industrial machines have this limit. However with their very high rapid speeds you can't spin the wheel fast enough to have a problem. One way round the problem is to use velocity mode. This simply measures how fast you are turning the wheel and sets the jog speed to be equivalent to it. The faster you turn the wheel the faster the machine moves. If you suddenly stop turning the wheel the machine will stop moving as quickly as it can. The disadvantage is that one division on your wheel will very likely not equal one unit of movement on the machine. Going back to Jon's initial post, his machine is capable of moving fast enough but it's maximum speed is being limited by the jog override. This IMHO is a bug, or at least an undesirable feature. Les For me I think I imagine the cnc-machine as a manual mill when using the MPG. I imagine myself turning the handwheel on a manual mill and it is surprising because the machine keeps moving after I have stopped turning the wheel. It would also be safer if the machine stopped when the wheel stops. - This SF.Net email is sponsored by the Moblin Your Move Developer's challenge Build the coolest Linux based applications with Moblin SDK win great prizes Grand prize is a trip for two to an Open Source event anywhere in the world http://moblin-contest.org/redirect.php?banner_id=100url=/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Checking MPG operation
The slower it can move the longer it takes to catch up to you spinning the MPG... I bet if you move the MPG at 50% of the speed that works at the jog setting of 100% it will behave the same at a 50% jog setting. John On 24 Aug 2008 at 13:59, Jon Elson wrote: But, finally, when in position mode, why should the jog override slider affect how the MPG controls the machine? The dial sends not only position but velocity information, so the jog override slider is redundant for MPG moves. Any thoughts? Jon -- --- This SF.Net email is sponsored by the Moblin Your Move Developer's challenge Build the coolest Linux based applications with Moblin SDK win great prizes Grand prize is a trip for two to an Open Source event anywhere in the world http://moblin-contest.org/redirect.php?banner_id=100url=/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users - This SF.Net email is sponsored by the Moblin Your Move Developer's challenge Build the coolest Linux based applications with Moblin SDK win great prizes Grand prize is a trip for two to an Open Source event anywhere in the world http://moblin-contest.org/redirect.php?banner_id=100url=/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Checking MPG operation
That is exactly how my Anilam control works, if you spin the dial fast the machine will go the proper distance but not as fast as you can turn the dial... so it keeps moving after you stop moving the dial... John On 24 Aug 2008 at 20:31, Anders Wallin wrote: If you turn the wheel quickly and EMC can only move slowly, it will keep moving after the wheel stops until it catches up. This is NOT a bug. I am using position-mode, and I am guessing that Jon is too. Bug or not, it is surprising behavior to the MPG/EMC2 user (perhaps not to the EMC2 developer...). Anders -- --- This SF.Net email is sponsored by the Moblin Your Move Developer's challenge Build the coolest Linux based applications with Moblin SDK win great prizes Grand prize is a trip for two to an Open Source event anywhere in the world http://moblin-contest.org/redirect.php?banner_id=100url=/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users - This SF.Net email is sponsored by the Moblin Your Move Developer's challenge Build the coolest Linux based applications with Moblin SDK win great prizes Grand prize is a trip for two to an Open Source event anywhere in the world http://moblin-contest.org/redirect.php?banner_id=100url=/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Checking MPG operation
On Sun, 2008-08-24 at 20:47 +0100, Leslie Newell wrote: ... snip Going back to Jon's initial post, his machine is capable of moving fast enough but it's maximum speed is being limited by the jog override. This IMHO is a bug, or at least an undesirable feature. I take that as an operator error. If I put the feed override to 0, and then try to run a file and it doesn't work, I won't call it an undesirable feature. But I don't have much experience in the MPG area, better to read up on the thread last year: http://thread.gmane.org/gmane.linux.distributions.emc.user/1234/focus=1270 I think the way things are done now is the best solution that came up, but as usual if any better way turns up, we'll take it. Regards, Alex - This SF.Net email is sponsored by the Moblin Your Move Developer's challenge Build the coolest Linux based applications with Moblin SDK win great prizes Grand prize is a trip for two to an Open Source event anywhere in the world http://moblin-contest.org/redirect.php?banner_id=100url=/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Puma560
Hi Jon. Thanks for your response. I hope this helps: The Puma560 has 6 joints all having 40v dc brushed motors. The 3 lower joints are rated at 160W and the final 3 at 80W. The encoders are sin/cos types with differential outputs and an index output. I can convert this to A/B square waves if necessary. Each motor also has a pot on the back for the control system to find its home position at power-up. There are no limit switches. The tree lower joints have a break that needs to be energised by 24v to allow movement of the motors. I'm not sure what the control signal to the existing amplifiers needs to be as I have very little documentation on my system. I am happy to replace them for a more modern solution if it's easier. There is however a 'high power discharge' board in the original to soak up the high voltages created by the inertia of the arm. I guess I can use the original psu to provide +/- 40V. It would be great to get this working properly as it's been a long term ambition. I've found some university sites that have made changes to the original controller but none that have started again. And then there's the software! Thanks Jonathan - Original Message From: Jon Elson [EMAIL PROTECTED] To: Enhanced Machine Controller (EMC) emc-users@lists.sourceforge.net Sent: Sunday, 24 August, 2008 7:46:36 PM Subject: Re: [Emc-users] Puma560 Jonathan Hancock wrote: Hi all. This is my first post on emc so sorry if I haven't done it the correct way... I have a Puma560 robot but the old control system for it has seen better days and doesn't work at all now. What I'd like to do is build a new one to connect to the existing arm. Having searched the web I came across you guys and thought you may be able to help! Has anyone out there done it? If so, can you help please? I could really do with being pointed in the right direction as to hardware requirements (servo amplifier, encoder i/p to the pc etc) and software to run the robot including the IK. Well, what kind of motors does it have? DC brush? What kind of encoders? Are the servo amps usable, or are then in need of replacement, too? Jon - This SF.Net email is sponsored by the Moblin Your Move Developer's challenge Build the coolest Linux based applications with Moblin SDK win great prizes Grand prize is a trip for two to an Open Source event anywhere in the world http://moblin-contest.org/redirect.php?banner_id=100url=/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users Send instant messages to your online friends http://uk.messenger.yahoo.com - This SF.Net email is sponsored by the Moblin Your Move Developer's challenge Build the coolest Linux based applications with Moblin SDK win great prizes Grand prize is a trip for two to an Open Source event anywhere in the world http://moblin-contest.org/redirect.php?banner_id=100url=/___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
[Emc-users] MPG behavior.
Quoting Jon Elson: But, in velocity mode, will it keep up with the encoder counts up to the max velocity? That might be what I should be using, then. I will try it! But, finally, when in position mode, why should the jog override slider affect how the MPG controls the machine? The dial sends not only position but velocity information, so the jog override slider is redundant for MPG moves. Any thoughts? Jon (end quote) The current mode may be a done deal and I have no horse in this race as yet. (Just lots of iron siiting in wait.) I have not had the time to dig under the hood to fully understand the guts of EMC2, maybe once my employer completes its move to Mexico and I am unemployeed I will have the time to explore more. Back in to 80's MPG's were a problem. As mentioned Anlam had issues, so did Yaznaq - each chose a different way of dealing with the issue. Anlam let the machine wind up and would continue movement after the dial stopped. Even in the early 90's some Mazak's would over shoot (keep moving) after jog buttons were released. (the dial seems to track better) Some older Yaznaq's would use the MPG in exact postion mode and if you moved the dial too fast the machine alarmed and deceled at best speed to a stop. A reset was required to gain use of the MPG wheel again. Hurco addressed this in a rather unique way. The Feed override was a potentiometer - no detents as was the MPG - no detents. The override used an analog output to Scale the MPG output. With the overide all the way to min - it required about a 1/4 turn to move .0001. The operator had to watch the display postion to know where he was. My personnal opinion (which is only important to me) is that if you are using position mode the jog overide should not apply to MPG input. Max-vel and max-accel values must apply and if you exceed either an F-error alarm should occur and the axis should halt at the max-accel rate. EMC would still know how many steps/pos-vel it had actually output both prior to the alarm and during the decel so the screen position should be currect. Maybe I'm just blowing smoke. (trying to avoid it actually) But any case which allows windup scares me. Greg. - This SF.Net email is sponsored by the Moblin Your Move Developer's challenge Build the coolest Linux based applications with Moblin SDK win great prizes Grand prize is a trip for two to an Open Source event anywhere in the world http://moblin-contest.org/redirect.php?banner_id=100url=/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] changing emcmodule.cc and axis.py
Gentlemen, I have the preview showing the tool like I want to see. The A and B axis tilt in the direction I want. The motion for the A axis is what I want but the motion for the B axis is still tilted opposite what I want. I cannot see where to make the change. I am thinking it is in emcmodule.cc. I am not sure though. It should be as simple as changing a sign. I have tried a few things with no success. Thanks in advance for the direction. Stuart - This SF.Net email is sponsored by the Moblin Your Move Developer's challenge Build the coolest Linux based applications with Moblin SDK win great prizes Grand prize is a trip for two to an Open Source event anywhere in the world http://moblin-contest.org/redirect.php?banner_id=100url=/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Puma560
Jonathan Hancock wrote: Hi Jon. Thanks for your response. I hope this helps: The Puma560 has 6 joints all having 40v dc brushed motors. The 3 lower joints are rated at 160W and the final 3 at 80W. The encoders are sin/cos types with differential outputs and an index output. I can convert this to A/B square waves if necessary. You'd better check the resolution of these encoders. Some (not all) analog output encoders have low resolution and use interpolator boxes to develop the needed resolution. These Rho-Theta style arms need to have pretty high resolution in the joints or there are certain positions it can get into where tiny movements of one joint can cause big errors in end effector position. Each motor also has a pot on the back for the control system to find its home position at power-up. There are no limit switches. Hmmm, no limit switches, huh? Well, there is no standard arrangement in EMC2 to use pots for setting joint limits. You could, of course, build some electronics with pairs of comparators to detect a joint at the travel limits. You would at least need some kind of sensor to set a home position for each joint. The tree lower joints have a break that needs to be energised by 24v to allow movement of the motors. I'm not sure what the control signal to the existing amplifiers needs to be as I have very little documentation on my system. I am happy to replace them for a more modern solution if it's easier. There is however a 'high power discharge' board in the original to soak up the high voltages created by the inertia of the arm. I guess I can use the original psu to provide +/- 40V. It could be +/- 10 V analog velocity commands, or torque commands. But, unless they are a standard brand (Servo Dynamics, Westamp, Kolmorgen or such) it might be hard to get docs on them. If you have tachometers on the motors, then it is likely to be a velocity servo, and you may want to preserve the servo amps if they are still functional. If no tachs, then I wouldn't worry too much about saving them. It would be great to get this working properly as it's been a long term ambition. I've found some university sites that have made changes to the original controller but none that have started again. And then there's the software! But, EMC2 makes it fairly easy. You have to determine the destance between joints precisely and set up the reverse kinematics for those measurements, and EMC handles it pretty much from there. You do have to work out the correct homing sequence so that things don't collide during that movement. Jon - This SF.Net email is sponsored by the Moblin Your Move Developer's challenge Build the coolest Linux based applications with Moblin SDK win great prizes Grand prize is a trip for two to an Open Source event anywhere in the world http://moblin-contest.org/redirect.php?banner_id=100url=/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
