Re: [Emc-users] Off Topic Cron and FTP

[John Thornton]

Hi Jerry,

Thanks that worked!

JT

On 11/6/2015 3:31 PM, Jerry Scharf wrote:
> John,
>
> This is dusty past stuff, but I don't think mput likes a path. Try the
> following ftp commands instead:
> lcd /home/john/cron/upload
> mput *.*
>
> jerry
>
> On Fri, Nov 6, 2015 at 12:59 PM, John Thornton  wrote:
>
>> I'm trying to upload some files to my web site to share using a cron job
>> and ftp. The cron part looks simple enough from crontab, where I need
>> help is the ftp part. Here is what I have so far and the error I get. Of
>> course xxx yyy and zzz have the correct info in them.
>>
>> #!/bin/sh
>> USERNAME="xxx"
>> PASSWORD="yyy"
>> SERVER="ftp.zzz.com"
>> # local directory to pickup *.tar.gz file
>> FILE="/home/john/cron/upload"
>> # remote server directory to upload backup
>> DIR="/zzz/files/splitter/cad"
>> echo USER $USERNAME
>> echo FILE $FILE/*.*
>> # login to remote server
>> ftp -n -i $SERVER <> user $USERNAME $PASSWORD
>> cd $DIR
>> mput $FILE/*.*
>> quit
>> EOF
>> I get this error
>> john@cave:~/cron$ ./upload.sh
>> USER xxx
>> FILE /home/john/cron/upload/golang.png
>> /home/john/cron/upload/golang.png: No such file or directory
>>
>> Thanks
>> JT
>>
>>
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>
>


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Re: [Emc-users] could Linux cnc control of unconventional mill design like this and general thoughts and comments.

[Gregg Eshelman]

Have a look at ABB robots flex picker.

https://www.youtube.com/results?search_query=abb+robot+picker

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Re: [Emc-users] could Linux cnc control of unconventional mill design like this and general thoughts and comments.

[Gregg Eshelman]

On 11/6/2015 5:29 PM, TJoseph Powderly wrote:
> well it is like the rostock but has extra constraint in the extra 3
> tracks and arms
> maybe this is to increase the rigidity.
>
> the standard rostock looks and feels really wiggly to anyone used to
> tool room machines.
>
> the drawings _suggest_ use of iron C channel, so I _guess_ rigidity is
> sought here.
>
> there really only 1 position for the lower truck based on _all_ the
> upper trucks.
>
> theres a lot of force on the joints to keep it rigid enough to mill metal.
> https://www.youtube.com/watch?v=4xSkt9Fa8iQ

How about this design? https://www.youtube.com/watch?v=NAcwwD18lYI

I'd like to see the Flexpicker design beefed up and driving the tool 
using the telescoping center shaft it uses to rotate its grippers.

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Re: [Emc-users] could Linux cnc control of unconventional mill design like this and general thoughts and comments.

[Philipp Burch]

Hi Linden!

On 07.11.2015 00:55, linden wrote:
> Hello All,
> 
> I have progressed a little with the design and modeling of the machine I
> asked for help simulating. It has evolved a little over the last few
> weeks. have a look at the pdf attached for pictures Another month and I
> will be back to the world of fast Internet and I should be able to try
> some of the previous suggestions for simulation.

Looks nice :)
Since you have 6 actuators, your design will definitely be
overconstrained if you only want 5 degrees of freedom. But I have the
feeling that you could actually get 6 DOF by having the nominal angle in
C about 60° (or even 90°) rotated in respect to the picture you
attached. Since you can control the distance between all the joints on
the center plate to their slides, this will allow you to rotate the tool
plate as well.
Even if you don't need rotation around C, I'd suggest to implement this
angular offset, as it will most probably make the system more robust
against torsional forces. Similar to how hexapods are done.

> 
>  The big question is:
> 
> Could linuxCNC something control this? or do I have 2 many variables
> with no fixed base position?

When you get the kinematics right (which I'd expect to be about midways
between the complexity of a delta kins and a hexapod), this should be no
problem.

> 
> A few other questions and thoughts I would like to pick your collective
> brains on.
> 
> How would you home something like this?

As with a hexapod, forward kins are complicated and may have many
(practically) invalid joint positions. I'd suggest to have the following
homing switches:

1. One for every pole at the top end, which gets activated when the
upper slide reaches the top limit.

2. One between every two slides on a pole which is closed when the
slides are closer than the nominal position (shown in your PDF) and open
otherwise. This must NOT be limit switches, as movement in both
directions over the activation point must be possible.

Additionally, it will help to have an approximation of the distance
between every two slides on a pole. This could be done rather easily by
using a linear potentiometer.

You could then implement the homing about as follows, using coordinated
movements in the XYZABC space (not on a joint basis):

1. When the system gets turned on, all you know is that it must be in
some mechanically feasible position. So start by a linear move towards
Z+, meaning that all slides run synchronously upwards. Stop as soon as
one upper slide reaches the top homing switch.

2. Use the feedback from the pots as an initial guess of the slide
distances for the kinematics. Using those, perform a move in the XY
plane perpendicularly away from the joint which has it's top slide
homed, i.e. moving approximately towards the center position. Stop as
soon as the second upper slide hits the top homing switch. Since this
movement will also adjust the distance of the slides on a pole, you may
also detect one or the other homing switch edge of those. Use this
information to correct the joint position guesses.

3. Do the same as in step 2, but this time with a movement perpendicular
to the connecting line of the two homed poles. So you should eventually
also reach the top homing switch of the third pole, meaning that all
upper slides know their positions and the tool is roughly centered.

4. Move all slides down by a few millimeters to get some "working range"
for the last step (i.e. coordinated move towards Z-).

5. Perform a movement to X0Y0A0B0C0, i.e. to the approximate nominal
position with an aligned tool base. This is possible using the
information form the pots.

6. Perform moves from C-30 to C30 (or less, depending on the accuracy of
your potentiometer feedbacks), so that all homing switches of the lower
slides see at least one edge. As soon as this happens, all joints are homed.

All this will require that the tool can rotate around a C axis (which in
my terminology is perpendicular to the machine table, NOT aligned to the
tool axis). This means that it will be required to have this angular
offset of the tool base plate as described above.

> I stile haven't simulated the movement digitally yet or built a complete
> cardboard and drinking straw model, but i think i have finally settled
> on approximate geometry any questions or comments are gladly welcome.
> Has any one seen any thing like this before I am sure I am not the
> first? Is there any grate big flaw with this logic that I have missed?

At least from my feeling, I think that this should work with the
mentioned adaptation. I'm not very familiar with complex machine
kinematics, however.

I find it a cool construction :) No idea if someone else already built that.

Good luck!

Regards,
Philipp



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Re: [Emc-users] Emc-users Digest, Vol 115, Issue 22

[Sebastian Kuzminsky]

On 11/07/2015 12:23 PM, Paul wrote:
> Hello
> 
> How and where do you download the latest version of Linucnc 2.7.2, I 
> cannot find a link on the website.

If you already have an install of LinuxCNC 2.7 made from our Live Image,
the upgrade to 2.7.2 should be automatic.


Otherwise our install instructions are here:

http://linuxcnc.org/docs/2.7/html/getting-started/getting-linuxcnc.html


If you're looking for the source code, it's here:

http://linuxcnc.org/docs/2.7/html/code/contributing-to-linuxcnc.html#_linuxcnc_official_git_repo


I hope that helps...


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Re: [Emc-users] Emc-users Digest, Vol 115, Issue 22

[Paul]

Hello

How and where do you download the latest version of Linucnc 2.7.2, I 
cannot find a link on the website.

Regards

Paul

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Re: [Emc-users] Emc-users Digest, Vol 115, Issue 22

[Gene Heskett]

On Saturday 07 November 2015 14:23:09 Paul wrote:

> Hello
>
> How and where do you download the latest version of Linucnc 2.7.2, I
> cannot find a link on the website.
>
> Regards
>
> Paul

Since it takes a special RTAI patched kernel to run linuxcnc, the best 
and likely quickest way would be to download the hybride.iso you can see 
there, burn it to a dvd, and install it.  Once installed and rebooted, 
you might have to edit the /etc/apt/sources.list.d/linuxcnc file to 
point it at the latest stable release, 2.7.2.

When you have done that, and the version on the dvd that was installed by 
the installer has been configured and runs, then come back and someone 
will show you what should be in that file to get you 100% up to date.
>
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Cheers, Gene Heskett
-- 
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 soap, ballot, jury, and ammo. Please use in that order."
-Ed Howdershelt (Author)
Genes Web page 

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Re: [Emc-users] Emc-users Digest, Vol 115, Issue 22

[Andrew]

2015-11-07 21:28 GMT+02:00 Sebastian Kuzminsky :

> On 11/07/2015 12:23 PM, Paul wrote:
> > Hello
> >
> > How and where do you download the latest version of Linucnc 2.7.2, I
> > cannot find a link on the website.
>
> If you already have an install of LinuxCNC 2.7 made from our Live Image,
> the upgrade to 2.7.2 should be automatic.
>
>
> Otherwise our install instructions are here:
>
> http://linuxcnc.org/docs/2.7/html/getting-started/getting-linuxcnc.html
>
>
> If you're looking for the source code, it's here:
>
>
> http://linuxcnc.org/docs/2.7/html/code/contributing-to-linuxcnc.html#_linuxcnc_official_git_repo
>
>
> I hope that helps...
>

Unfortunately there's no obvious link to 2.7 iso on the website. Download
section only has link to 2.6 hybrid iso.

Andrew
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Re: [Emc-users] Emc-users Digest, Vol 115, Issue 22

[Sebastian Kuzminsky]

On 11/07/2015 04:22 PM, Andrew wrote:
> 2015-11-07 21:28 GMT+02:00 Sebastian Kuzminsky :
> 
>> On 11/07/2015 12:23 PM, Paul wrote:
>>> Hello
>>>
>>> How and where do you download the latest version of Linucnc 2.7.2, I
>>> cannot find a link on the website.
>>
>> If you already have an install of LinuxCNC 2.7 made from our Live Image,
>> the upgrade to 2.7.2 should be automatic.
>>
>>
>> Otherwise our install instructions are here:
>>
>> http://linuxcnc.org/docs/2.7/html/getting-started/getting-linuxcnc.html
>>
>>
>> If you're looking for the source code, it's here:
>>
>>
>> http://linuxcnc.org/docs/2.7/html/code/contributing-to-linuxcnc.html#_linuxcnc_official_git_repo
>>
>>
>> I hope that helps...
>>
> 
> Unfortunately there's no obvious link to 2.7 iso on the website. Download
> section only has link to 2.6 hybrid iso.

Thanks for the bug report.

The 2.7 docs I linked to has the install instructions, but as you say,
they're missing from the "main" website.

We're currently revamping the website, the updated one will include
install instructions for 2.7.


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Re: [Emc-users] could Linux cnc control of unconventional mill design like this and general thoughts and comments.

[linden]

Thanks for taking the time to look at the pictures and read through my 
chicken scratch notes. Now I know that Linuxcnc should be able to 
control something like this and we have a potential solution for 
homing.  I will keep going. I really need a real Internet connection or 
some card board to start pushing shapes around simulating to see how 
they interact with each other. One dimension is not to bad but trying to 
picture things in my head in 3 dimensions and 6 dof freedom is a bit 
much for my little brain sometimes. lol

I am having second thoughts about using the lower set of trucks and 
additional links associated with them. The original idea and thought be 
hide this approach was it would give me a larger translational working  
area relative to overall tool hight and may help with rigidity. looking 
at the videos suggested earlier about rigidity and with the abb picker I 
am having second thought. I have also seen a Russian you tube model that 
has given me some ideas. once I have modled and thought a bit more I 
would like to pick your collective brains again.

all the best,

Linden

On 15-11-07 06:30 PM, Philipp Burch wrote:
> Hi Linden!
>
> On 07.11.2015 00:55, linden wrote:
>> Hello All,
>>
>> I have progressed a little with the design and modeling of the machine I
>> asked for help simulating. It has evolved a little over the last few
>> weeks. have a look at the pdf attached for pictures Another month and I
>> will be back to the world of fast Internet and I should be able to try
>> some of the previous suggestions for simulation.
> Looks nice :)
> Since you have 6 actuators, your design will definitely be
> overconstrained if you only want 5 degrees of freedom. But I have the
> feeling that you could actually get 6 DOF by having the nominal angle in
> C about 60° (or even 90°) rotated in respect to the picture you
> attached. Since you can control the distance between all the joints on
> the center plate to their slides, this will allow you to rotate the tool
> plate as well.
> Even if you don't need rotation around C, I'd suggest to implement this
> angular offset, as it will most probably make the system more robust
> against torsional forces. Similar to how hexapods are done.
>
>>   The big question is:
>>
>> Could linuxCNC something control this? or do I have 2 many variables
>> with no fixed base position?
> When you get the kinematics right (which I'd expect to be about midways
> between the complexity of a delta kins and a hexapod), this should be no
> problem.
>
>> A few other questions and thoughts I would like to pick your collective
>> brains on.
>>
>> How would you home something like this?
> As with a hexapod, forward kins are complicated and may have many
> (practically) invalid joint positions. I'd suggest to have the following
> homing switches:
>
> 1. One for every pole at the top end, which gets activated when the
> upper slide reaches the top limit.
>
> 2. One between every two slides on a pole which is closed when the
> slides are closer than the nominal position (shown in your PDF) and open
> otherwise. This must NOT be limit switches, as movement in both
> directions over the activation point must be possible.
>
> Additionally, it will help to have an approximation of the distance
> between every two slides on a pole. This could be done rather easily by
> using a linear potentiometer.
>
> You could then implement the homing about as follows, using coordinated
> movements in the XYZABC space (not on a joint basis):
>
> 1. When the system gets turned on, all you know is that it must be in
> some mechanically feasible position. So start by a linear move towards
> Z+, meaning that all slides run synchronously upwards. Stop as soon as
> one upper slide reaches the top homing switch.
>
> 2. Use the feedback from the pots as an initial guess of the slide
> distances for the kinematics. Using those, perform a move in the XY
> plane perpendicularly away from the joint which has it's top slide
> homed, i.e. moving approximately towards the center position. Stop as
> soon as the second upper slide hits the top homing switch. Since this
> movement will also adjust the distance of the slides on a pole, you may
> also detect one or the other homing switch edge of those. Use this
> information to correct the joint position guesses.
>
> 3. Do the same as in step 2, but this time with a movement perpendicular
> to the connecting line of the two homed poles. So you should eventually
> also reach the top homing switch of the third pole, meaning that all
> upper slides know their positions and the tool is roughly centered.
>
> 4. Move all slides down by a few millimeters to get some "working range"
> for the last step (i.e. coordinated move towards Z-).
>
> 5. Perform a movement to X0Y0A0B0C0, i.e. to the approximate nominal
> position with an aligned tool base. This is possible using the
> information form the pots.
>
> 6. Perform moves from C-30 to C30 (or less, depending on the 

Re: [Emc-users] could Linux cnc control of unconventional mill design like this and general thoughts and comments.

[Kyle Kerr]

Re: homing. Delta printers usually home at the top of their travel. When I
asked my CNC instructor about a delta mill he said the lack of rigidity
would kill accuracy.

On Sat, Nov 7, 2015, 7:38 PM linden  wrote:

> Thanks for taking the time to look at the pictures and read through my
> chicken scratch notes. Now I know that Linuxcnc should be able to
> control something like this and we have a potential solution for
> homing.  I will keep going. I really need a real Internet connection or
> some card board to start pushing shapes around simulating to see how
> they interact with each other. One dimension is not to bad but trying to
> picture things in my head in 3 dimensions and 6 dof freedom is a bit
> much for my little brain sometimes. lol
>
> I am having second thoughts about using the lower set of trucks and
> additional links associated with them. The original idea and thought be
> hide this approach was it would give me a larger translational working
> area relative to overall tool hight and may help with rigidity. looking
> at the videos suggested earlier about rigidity and with the abb picker I
> am having second thought. I have also seen a Russian you tube model that
> has given me some ideas. once I have modled and thought a bit more I
> would like to pick your collective brains again.
>
> all the best,
>
> Linden
>
> On 15-11-07 06:30 PM, Philipp Burch wrote:
> > Hi Linden!
> >
> > On 07.11.2015 00:55, linden wrote:
> >> Hello All,
> >>
> >> I have progressed a little with the design and modeling of the machine I
> >> asked for help simulating. It has evolved a little over the last few
> >> weeks. have a look at the pdf attached for pictures Another month and I
> >> will be back to the world of fast Internet and I should be able to try
> >> some of the previous suggestions for simulation.
> > Looks nice :)
> > Since you have 6 actuators, your design will definitely be
> > overconstrained if you only want 5 degrees of freedom. But I have the
> > feeling that you could actually get 6 DOF by having the nominal angle in
> > C about 60° (or even 90°) rotated in respect to the picture you
> > attached. Since you can control the distance between all the joints on
> > the center plate to their slides, this will allow you to rotate the tool
> > plate as well.
> > Even if you don't need rotation around C, I'd suggest to implement this
> > angular offset, as it will most probably make the system more robust
> > against torsional forces. Similar to how hexapods are done.
> >
> >>   The big question is:
> >>
> >> Could linuxCNC something control this? or do I have 2 many variables
> >> with no fixed base position?
> > When you get the kinematics right (which I'd expect to be about midways
> > between the complexity of a delta kins and a hexapod), this should be no
> > problem.
> >
> >> A few other questions and thoughts I would like to pick your collective
> >> brains on.
> >>
> >> How would you home something like this?
> > As with a hexapod, forward kins are complicated and may have many
> > (practically) invalid joint positions. I'd suggest to have the following
> > homing switches:
> >
> > 1. One for every pole at the top end, which gets activated when the
> > upper slide reaches the top limit.
> >
> > 2. One between every two slides on a pole which is closed when the
> > slides are closer than the nominal position (shown in your PDF) and open
> > otherwise. This must NOT be limit switches, as movement in both
> > directions over the activation point must be possible.
> >
> > Additionally, it will help to have an approximation of the distance
> > between every two slides on a pole. This could be done rather easily by
> > using a linear potentiometer.
> >
> > You could then implement the homing about as follows, using coordinated
> > movements in the XYZABC space (not on a joint basis):
> >
> > 1. When the system gets turned on, all you know is that it must be in
> > some mechanically feasible position. So start by a linear move towards
> > Z+, meaning that all slides run synchronously upwards. Stop as soon as
> > one upper slide reaches the top homing switch.
> >
> > 2. Use the feedback from the pots as an initial guess of the slide
> > distances for the kinematics. Using those, perform a move in the XY
> > plane perpendicularly away from the joint which has it's top slide
> > homed, i.e. moving approximately towards the center position. Stop as
> > soon as the second upper slide hits the top homing switch. Since this
> > movement will also adjust the distance of the slides on a pole, you may
> > also detect one or the other homing switch edge of those. Use this
> > information to correct the joint position guesses.
> >
> > 3. Do the same as in step 2, but this time with a movement perpendicular
> > to the connecting line of the two homed poles. So you should eventually
> > also reach the top homing switch of the third pole, meaning that all
> > upper slides know their positions and