Re: [Emc-users] Gcode Newbie Question - repetitive part making
Hey Ed, Once upon a time, I wrote some gcode subroutines that, given the ends of two lines and a radius, makes it into a line, an arc of that radius, and a line. If you want to see it, I might be able to locate it. Regards, Ken Ed Nisley wrote: if Ed will be continuing similar articles in the future That's the plan! The Winter 08 column deals with fillets on internal corners: using cutter comp and figuring the arc centers for mostly right-angle corners. Pretty easy once you see it. Next up: finding the centers when the sides aren't at right angles. Time to haul some trig functions out of the closet, blow the dust off, and fire those devils up. So many topics, so few issues... -- Kenneth Lerman Mark Kenny Products Company, LLC 55 Main Street Newtown, CT 06470 888-ISO-SEVO 203-426-7166 -- SF.Net email is Sponsored by MIX09, March 18-20, 2009 in Las Vegas, Nevada. The future of the web can't happen without you. Join us at MIX09 to help pave the way to the Next Web now. Learn more and register at http://ad.doubleclick.net/clk;208669438;13503038;i?http://2009.visitmix.com/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
[Emc-users] Robot Kinematics
Hi, I just got my hands on one of those Teachmover style educational robot arms. Obviously I am going to hook it up to EMC as soon as I make/find some unipolar step drives. Here is my question, because of the way the motors are hooked to the joints, as you move a particular joint, the ones following it move also, as they are mechanically connected. Is there an existing kinematics file that contains this feature that I can hack on? Or a name for this behavior so I can do some research? Thanks, Dan -- SF.Net email is Sponsored by MIX09, March 18-20, 2009 in Las Vegas, Nevada. The future of the web can't happen without you. Join us at MIX09 to help pave the way to the Next Web now. Learn more and register at http://ad.doubleclick.net/clk;208669438;13503038;i?http://2009.visitmix.com/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Am I overloading the servo loop with my s pindle encoder?
Peter C. Wallace p...@... writes: HostMot 5I20 encoder counter. With digital filtering turned on, the maximum rate is limited to around 4 MHz. Thread rate should be unimportant as well, especially with the original HostMot since its encoder counters are 32 bits wide. Have you checked that the A and B signals are still in quadrature at high speed? (needs a dual trace scope). Is the quadrature filtering enabled? (it should be). Also it might be good to look at the quadrature signals at the FPGA card. Thanks for weighing in Peter. Whenever you speak, I have to put on my thinking cap for a while... What you are pointing out seems to imply that you are concerned about noise in the lines. It looks like I am going to physically connect some test pigtails to the 5i20 in the controller so I can scope what is happening in the signal lines there. I have had glitches on the limit switch inputs that stop the machine in the middle of a cut. Putting a debounce filter on the limit inputs has helped here... but it does suggest that there is a larger noise issue underlying some, if not all, of my problems. If you don't mind, I would like to ask a few things to help clarify things in my mind. How do I check to make sure that quadrature filtering is turned on? Is this a config modparam statement that goes in the ini file? Can you give an example? More info re: my system. The 3 machine joint encoders are single ended TTL and so I have the default jumpers in place on the 7i33. But, the 4th (spindle) encoder is a differential/RS422 model, so I have the jumper in the UP position for this one. I am aware of the pre-revision D alert that suggests removing the resistor sips in the 5i20. How do I ascertain which rev. 5i20 I have without pulling the card out of the computer? Thanks! Tom -- SF.Net email is Sponsored by MIX09, March 18-20, 2009 in Las Vegas, Nevada. The future of the web can't happen without you. Join us at MIX09 to help pave the way to the Next Web now. Learn more and register at http://ad.doubleclick.net/clk;208669438;13503038;i?http://2009.visitmix.com/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Am I overloading the servo loop with my spindle encoder?
Tom wrote: How do I check to make sure that quadrature filtering is turned on? Is this a config modparam statement that goes in the ini file? Can you give an example? Are you using m5i20 (hostmot) or hm2_pci/hm2_5i20 (hostmot2)? If you're using hostmot2, you enable encoder filtering in HAL by setting hm2_5i20.0.encoder.XX.filter to 1, as described here: http://www.linuxcnc.org/docs/2.2/html/man/man9/hostmot2.9.html#encoder I'm not sure how the m5i20/hostmot driver handles this... -- Sebastian Kuzminsky Okay, people. Now is the time to start discussing the rules of war for autonomous robots. Now, when it's still theoretical. -- Bruce Schneier -- SF.Net email is Sponsored by MIX09, March 18-20, 2009 in Las Vegas, Nevada. The future of the web can't happen without you. Join us at MIX09 to help pave the way to the Next Web now. Learn more and register at http://ad.doubleclick.net/clk;208669438;13503038;i?http://2009.visitmix.com/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Gcode Newbie Question - repetitive part
Once upon a time, I wrote some gcode subroutines Sure: I'm always interested to find out what I could do better! Or at least differently, as I seem to have a lot of code sitting around that makes me wonder what I was thinking at the time. Maybe nothing, aye, there's the rub. Thanks... -- Ed -- SF.Net email is Sponsored by MIX09, March 18-20, 2009 in Las Vegas, Nevada. The future of the web can't happen without you. Join us at MIX09 to help pave the way to the Next Web now. Learn more and register at http://ad.doubleclick.net/clk;208669438;13503038;i?http://2009.visitmix.com/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Robot Kinematics
Dan, the kinematics of this robot type is quite trivial to solve, this image should help in figuring it out: http://imagebin.org/33869 The trick is in using substitution (ZR-plane) and putting the center of the world coordinate system in the rotation centers of the first and second joints. Kinematics help: http://www.linuxcnc.org/docs/devel/html/motion_kinematics.html Example kinematic files can be found in the repository: (includes a PUMA robot) http://cvs.linuxcnc.org/cvs/emc2/src/emc/kinematics/ Some dimensions of the teachmover: http://www.questechzone.com/images/tmspecs.gif I should have the direct and inverse kinematic solution for that robot type somewhere, but it might be faster if you figure it out yourself. (instead of me searching for it) =) Regards, Jan -- SF.Net email is Sponsored by MIX09, March 18-20, 2009 in Las Vegas, Nevada. The future of the web can't happen without you. Join us at MIX09 to help pave the way to the Next Web now. Learn more and register at http://ad.doubleclick.net/clk;208669438;13503038;i?http://2009.visitmix.com/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] end of program
On Tue, 2008-12-16 at 22:44 -0600, Len Shelton wrote: With the method that Ray described with G92.2 and G92.3, its still several un-necessary steps I think. I mean, what if it is the first time you run the program? Would you have to set the offsets with G92 in MDI and then save with G92.2 in MDI, then place G92.3 at the beginning of every file? All of the offsets used by EMC are defined when it starts up. They are assigned the values that their variables hold in the var and tbl files. A call to restore g92 values will assign them zero values if the relevant g92 values are zero. For that reason you don't need to worry much about a first encounter with g92.3 in a program unless you change these offsets and they are saved when EMC2 shuts down. If you have set g92 values in manual or MDI mode before you start your program, and that program has a g92.3 near the start, you don't loose anything. It simply rereads them from the status structure which holds the current values you previously set. There are a couple of gotchas that are described in detail in the g92 doc I wrote a few years ago. http://www.linuxcnc.org/dropbox/g92test1.pdf (This doc was not intended for bedside reading.) (1) What you are describing was addressed when an attempt was made to allow integrators the ability to set these behaviors by parameter changes. I've argued for such things for years and a first stab at it was made by Keith Rumley about three+ years ago on the BDI versions. You could see his revisions in CVS. IMO the proper way to handle these things will require a major rework and expansion of the EMC2 task planning code. (2) A related ability, suspending a program using abort or some such then switching to manual and moving to allow the replacement of a broken or worn tool, has been discussed at some length. A similar issue is raised with auto tool wear sensing. IMO there is a solution to this and several other issues but it would require a significant revision of the interpreter code. HTH Rayh -- SF.Net email is Sponsored by MIX09, March 18-20, 2009 in Las Vegas, Nevada. The future of the web can't happen without you. Join us at MIX09 to help pave the way to the Next Web now. Learn more and register at http://ad.doubleclick.net/clk;208669438;13503038;i?http://2009.visitmix.com/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Am I overloading the servo loop with my s pindle encoder?
I am using a pyVCP panel in Axis that has a spindle rpm bar, lifted from Anders Wallins generously provided ini and hal files on his web page here: http://www.anderswallin.net/category/cnc/emc/ Thus far, I can display 0 to 4000 rpm in a nice steady green bar, but as the spindle speed increases above that point (my spindle goes up to 6000 rpm), the bar (and the floating point value of the rev-scaled hal pin that it is linked to) starts to bounce between extreme negative and positive integers. My diagnosis was that the frequency of the incoming pulse stream (m5i20.0.enc-03-position) was too great (120kHz) to be scaled accurately in a slow thread. There should be no limitation anywhere near this low in count frequency in the HostMot 5I20 encoder counter. With digital filtering turned on, the maximum rate is limited to around 4 MHz. Thread rate should be unimportant as well, especially with the original HostMot since its encoder counters are 32 bits wide. Have you checked that the A and B signals are still in quadrature at high speed? (needs a dual trace scope). Is the quadrature filtering enabled? (it should be). Also it might be good to look at the quadrature signals at the FPGA card. Peter Wallace Mesa Electronics (\__/) (='.'=) This is Bunny. Copy and paste bunny into your ()_() signature to help him gain world domination. -- SF.Net email is Sponsored by MIX09, March 18-20, 2009 in Las Vegas, Nevada. The future of the web can't happen without you. Join us at MIX09 to help pave the way to the Next Web now. Learn more and register at http://ad.doubleclick.net/clk;208669438;13503038;i?http://2009.visitmix.com/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] turbine blades
On Tue, Dec 16, 2008 at 11:14 PM, tomp tomp-...@sbcglobal.net wrote: Brian the blades are forged or cast ( lotsa hollow passages ) then details are milled or edm'd the blades are welded together into rings ( even with the fancy tree locators ) and machined again there some great sites explaining the aero and stationary engines and components this is great http://www.gentz.net/ regards tomp That site has aircraft turbines. Back in the mid nineties, I inspected 2 plants (voith and American Hydro) which were manufacturing the turbines for the 3 gorges dam. Your note reminded me that they did also peice them together. I just recall the table these things were slowly rotating on as they milled the outer edges to specifications. It was quite amazing. With that event, it would be cool to see some if the large manufacturers nearby show some of the machining work they have done (York international, Defense Systems, Shepard Steel, and Harley to name just a few). Thanks for the link. Brian -- SF.Net email is Sponsored by MIX09, March 18-20, 2009 in Las Vegas, Nevada. The future of the web can't happen without you. Join us at MIX09 to help pave the way to the Next Web now. Learn more and register at http://ad.doubleclick.net/clk;208669438;13503038;i?http://2009.visitmix.com/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Following Error Problem Using 5i20 and Stepper Motors
Ideas? Thanks, Matt Do you mind testing a new bitfile? I think I've got it. You will still need some overhead so that the hardware never limits the rate in normal slewing (maybe 5%). Peter Wallace Mesa Electronics (\__/) (='.'=) This is Bunny. Copy and paste bunny into your ()_() signature to help him gain world domination. -- SF.Net email is Sponsored by MIX09, March 18-20, 2009 in Las Vegas, Nevada. The future of the web can't happen without you. Join us at MIX09 to help pave the way to the Next Web now. Learn more and register at http://ad.doubleclick.net/clk;208669438;13503038;i?http://2009.visitmix.com/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Am I overloading the servo loop with my spindle encoder?
On Wed, Dec 17, 2008 at 12:14:13PM -0700, Sebastian Kuzminsky wrote: I'm not sure how the m5i20/hostmot driver handles this... the old driver simply has this setting hardcoded, and can't chage it without a recompile. I forget what value is hardcoded, though. Jeff -- SF.Net email is Sponsored by MIX09, March 18-20, 2009 in Las Vegas, Nevada. The future of the web can't happen without you. Join us at MIX09 to help pave the way to the Next Web now. Learn more and register at http://ad.doubleclick.net/clk;208669438;13503038;i?http://2009.visitmix.com/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Am I overloading the servo loop with my spindle encoder?
On Wed, 2008-12-17 at 19:06 +, Tom wrote: ... snip What you are pointing out seems to imply that you are concerned about noise in the lines. It looks like I am going to physically connect some test pigtails to the 5i20 in the controller so I can scope what is happening in the signal lines there. I have had glitches on the limit switch inputs that stop the machine in the middle of a cut. Putting a debounce filter on the limit inputs has helped here... but it does suggest that there is a larger noise issue underlying some, if not all, of my problems. If you are using a VFD on your spindle (or coolant pump), having one a filter on the power input solved my noise problems. http://www.eastek-intl.com/images/PreoSeriesEB.pdf http://www.wallacecompany.com/cnc_lathe/HNC/00024-1a.jpg If not, using a filter or ferite beads for other power lines might help. -- Kirk http://www.wallacecompany.com/machine_shop/ -- SF.Net email is Sponsored by MIX09, March 18-20, 2009 in Las Vegas, Nevada. The future of the web can't happen without you. Join us at MIX09 to help pave the way to the Next Web now. Learn more and register at http://ad.doubleclick.net/clk;208669438;13503038;i?http://2009.visitmix.com/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] end of program
On Wednesday 17 December 2008, Ray Henry wrote: (1) What you are describing was addressed when an attempt was made to allow integrators the ability to set these behaviors by parameter changes. I've argued for such things for years and a first stab at it was made by Keith Rumley about three+ years ago on the BDI versions. You could see his revisions in CVS. Minor correction - The changes were made on a branch of the original EMC code. The bug fixes were merged in to the BDI-4 branch of emc2, but possibly not in to the main trunk. IMO the proper way to handle these things will require a major rework and expansion of the EMC2 task planning code. Offsets are predominantly in the realm of the interpreter and have little to do with the task planner. (2) A related ability, suspending a program using abort or some such then switching to manual and moving to allow the replacement of a broken or worn tool, has been discussed at some length. A similar issue is raised with auto tool wear sensing. Now this does require changes at the task planner level, and also in the trajectory planner - Manual moves unplanned tool changes opens up a number of problems associated with tool offsets. IMO there is a solution to this and several other issues but it would require a significant revision of the interpreter code. There is/was an extensible interpreter being worked on that allowed for custom G/M codes via a config file - The intent was to provide different personalities to emulate various controls (i.e. Fanuc or Heidenhain) along with closer coupling of PLC functions.. -- SF.Net email is Sponsored by MIX09, March 18-20, 2009 in Las Vegas, Nevada. The future of the web can't happen without you. Join us at MIX09 to help pave the way to the Next Web now. Learn more and register at http://ad.doubleclick.net/clk;208669438;13503038;i?http://2009.visitmix.com/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] EMC 2.2.7 + 7i43 + Ted's sample, and same error than using EMC 2.2.6 + 7i43 + Ted's sample.... What now?
OK, this is my hal file again, is the same one that Ted Hyde has posted. http://pastebin.com/f509e8f08 Greetings, and thanks again El 16/12/08 14:48, Peter C. Wallace escribió: How did the DOS testing turn out? OK... sorry for the delay, but my work is killing me. Finaly i managed (lack of time not brain) to burn a DOS start cd and put there the files to make the test. When sc7i43p svst4_4b.bit 378, everything went fine. Did sc7i43P report that the 7I43 had a 400K FPGA? When epptest 378 It says something like this: error count 1: loop count :10 error count 2: loop count :20 error count 3: loop count :30 And so on. Well it should say something like: Pass: 1 Error Count: 0 loop count: 10 Pass: 2 Error Count: 0 loop count: 20 Pass: 3 Error Count: 0 loop count: 30 ... A) It this an error on every 10 loops or there is no error at all?. No errors. Each loop does 24 EPP operations (2 32 bit writes and 2 32 bit reads, so it did 7.2 million EPP operations without error B) When i did epptest for the first time WITHOUT sc7i43 svst4_4b.it first, it said something like Error: send ah21 read or so, so i think that A means no error. If there are errors you will get the sent , read messages So, if this means there is nothing wrong with my computer or the card i guess the failure comes from the driver... ??or it means i have to check something? If you can verify that the sc7I43p program reported that the FPGA was 400K it mean that your hardware is fine. At this point its most likely a HAL or startup issue of some kind. It could be a driver issue but that not too likely as others have gotten firmware loading to work without problems Can you post your HAL file to imagebin.ca (again?) so one of the (few) 7I43 HAL gurus can help? Peter Wallace Mesa Electronics (\__/) (='.'=) This is Bunny. Copy and paste bunny into your ()_() signature to help him gain world domination. -- SF.Net email is Sponsored by MIX09, March 18-20, 2009 in Las Vegas, Nevada. The future of the web can't happen without you. Join us at MIX09 to help pave the way to the Next Web now. Learn more and register at http://ad.doubleclick.net/clk;208669438;13503038;i?http://2009.visitmix.com/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users -- SF.Net email is Sponsored by MIX09, March 18-20, 2009 in Las Vegas, Nevada. The future of the web can't happen without you. Join us at MIX09 to help pave the way to the Next Web now. Learn more and register at http://ad.doubleclick.net/clk;208669438;13503038;i?http://2009.visitmix.com/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Am I overloading the servo loop with my spi ndle encoder?
Sebastian Kuzminsky s...@... writes: ... Are you using m5i20 (hostmot) or hm2_pci/hm2_5i20 (hostmot2)? Sebastian, I am using the m5i20 (hostmot) version at this time. After talking to Peter on the phone today, it looked as if I might be looking for a more mundane problem such as noise and/or signal integrity interfering with the spindle encoder data stream. Sure enough, it took nothing more than a volt meter to ferret out the problem. I was powering the spindle encoder through about 15 feet of ribbon cable, and the voltage drop near the encoder (4.32V) was enough to cause a loss of signal integrity at higher speeds. The encoder is nice older unit with thru-hole components and I am sure that the insufficient Vcc/Gnd was enough to cause some quadrature phase shift, which I witnessed on the scope. Oh well, problem solved! Jeff, Thanks for the info re: the filter being hardcoded in hostmot. Peter and I were wondering about that. There's another reason to start planning to upgrade to hostmot2. Kirk, Yes, I am using a Danfoss vfd, which is capable of switching at very high speeds and comes with excellent ferrites on the motor outputs, and reactor filters on the dc lines, which makes for a big heavy unit. I checked the motor leads by waving the scope probes near them, and there is a short length of unshielded cable that emits detectable emi, but it is no where near the logic level lines. All the logic/signal lines seemed clean on the scope, but who knows what ultra high freq junk lurks there... I have an older 150mHz Tek 2445, and I could see some fog at the small time slices. I re-configured the vfd core switching frequency to a lower 8kHz to see what, if anything that might do, and it didn't seem to hurt or help... it just makes a nice audible turbine-like whine now when the spindle spins up. A huge Thank You! to all for following and helping with this. -- SF.Net email is Sponsored by MIX09, March 18-20, 2009 in Las Vegas, Nevada. The future of the web can't happen without you. Join us at MIX09 to help pave the way to the Next Web now. Learn more and register at http://ad.doubleclick.net/clk;208669438;13503038;i?http://2009.visitmix.com/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Am I overloading the servo loop with my spindle encoder?
Kirk Wallace kwall...@... writes: If you are using a VFD on your spindle (or coolant pump), having one a filter on the power input solved my noise problems. http://www.eastek-intl.com/images/PreoSeriesEB.pdf http://www.wallacecompany.com/cnc_lathe/HNC/00024-1a.jpg If not, using a filter or ferite beads for other power lines might help. -- I checked your photo link. That was helpful. I think I will get a few EMI filters for the Opto boards and signal power supplies. Thanks Kirk! Tom -- SF.Net email is Sponsored by MIX09, March 18-20, 2009 in Las Vegas, Nevada. The future of the web can't happen without you. Join us at MIX09 to help pave the way to the Next Web now. Learn more and register at http://ad.doubleclick.net/clk;208669438;13503038;i?http://2009.visitmix.com/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
