[Emc-users] I designed printable boxes for Chinese breakout boards.

[Gregg Eshelman]

3D printable, download STL files from Thingiverse.
For the really cheap Chinese BOBhttp://www.thingiverse.com/thing:1732451
For the somewhat less cheap Chinese BOB with more features. Printing this one 
right now in UV fluorescent bright green PLA.
http://www.thingiverse.com/thing:1732470



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Re: [Emc-users] feed rate interpretation in g01

[andy pugh]

On 22 August 2016 at 22:56, Klemen Živkovič  wrote:

> OK, I made correction as Andrew proposes, but this transition from straight
> line to edge cutting results in velocity ripple (seen in halscope on video
> below) - is it possible to have more smooth transition?

That depends on the physical constraints that you have put on the
system. Specifically the acceleration and velocity limits, and also
how tightly you have requested that the system follows the programmed
path.

http://linuxcnc.org/docs/2.7/html/user/user-concepts.html
http://linuxcnc.org/docs/2.7/html/gcode/g-code.html#gcode:g61-g61.1

-- 
atp
"A motorcycle is a bicycle with a pandemonium attachment and is
designed for the especial use of mechanical geniuses, daredevils and
lunatics."
— George Fitch, Atlanta Constitution Newspaper, 1916

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Re: [Emc-users] feed rate interpretation in g01

[Klemen Živkovič]

Andrew - I prepare GCODE in my postprocessor - it  takes 3d points from cad
3d program , and then traverses points of edges and outputs gcode.

OK, I made correction as Andrew proposes, but this transition from straight
line to edge cutting results in velocity ripple (seen in halscope on video
below) - is it possible to have more smooth transition?

Any idea how to correct this if it is possible at all?

https://youtu.be/71HJZ2YjnJU

regards


On Mon, Aug 22, 2016 at 12:35 PM, Klemen Živkovič  wrote:

> Because machine has two rotating disk, that are used to clamp pipe.
> If I want to have both disk to have same angle (so they can grip
> rectangular pipe) I need the ability to separately rotate both of them.
> I also use two separated stepper drivers for this reason.
> For ilustration you can maybe check pictures of my project at:
> https://goo.gl/photos/4A623DBE1DQRwYfcA
>
> regards,
>
> On Mon, Aug 22, 2016 at 10:40 AM, Andrew  wrote:
>
>> 2016-08-22 2:43 GMT+03:00 Klemen Živkovič :
>>
>> > Oh yes I see how you calculate it for this example on simulation.
>> > Actually I would need to make and calculate it for general case where
>> > fillet can be only quarter of length or any other arbitrary length. I
>> get
>> > line segments from 3d cad program.
>> >
>> > Need to think if calculation of g93 feed is possible from having start
>> and
>> > end point of tiny line segments (center of rotation always at x=0 and
>> z=0).
>> >
>> > If you split fillet arcs into short segments, you still have to
>> consider X
>> moves.
>> How do you prepare G-code?
>>
>> Also, why A and B if you only have one rotary axis?
>> 
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>
>
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Re: [Emc-users] genserkins errors

[Andrew]

My only advice would be to start digging into the code.
Probably try to calculate the forward kins by a book and compare the
results.

I'm going to need this too (planning to build a simple robot arm), but no
exact timing yet...

Andrew
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Re: [Emc-users] genserkins errors

[andy pugh]

On 22 August 2016 at 18:01, Alyssa Wells  wrote:
> That's a handy tip! Thanks Jeff!

Floating-point Hex is pretty hard to follow otherwise :-)

-- 
atp
"A motorcycle is a bicycle with a pandemonium attachment and is
designed for the especial use of mechanical geniuses, daredevils and
lunatics."
— George Fitch, Atlanta Constitution Newspaper, 1916

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Re: [Emc-users] genserkins errors

[Alyssa Wells]

>They are in "hex float" format.
>You can decode them to standard decimal format using the commandline printf 
>program.
>$ printf '%f\n' 0x0P+0 0x0P+0 0x0P+0 0x0P+0 0x1.059CF4D8377FAP+4 0x0P+0
>0.00
>0.00
>0.00
>0.00
>16.350819
>0.00

That's a handy tip! Thanks Jeff!

Alyssa
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Re: [Emc-users] Any Interest or Ideas for a Linuxcnc Fest 2016 ?

[Sebastian Kuzminsky]

On 08/22/2016 10:35 AM, Ed wrote:
> On 06/15/2016 02:13 PM, Stuart Stevenson wrote:
>> This will most probably be an October 7th, 8th and 9th event.
>> In all honesty anyone can come at any time.
>>
> I haven't been paying attention to this. Is this the correct date?

The plan is:

Monday October 17 through Sunday October 23
Helix Machine, 3434 West Harry, Wichita, Kansas

It's going to be a rocking nerdy good time.


-- 
Sebastian Kuzminsky

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Re: [Emc-users] genserkins errors

[Jeff Epler]

I don't have a solution for you, but I want to help you interpret the
numbers shown in the debug messages.

They are in "hex float" format.

You can decode them to standard decimal format using the commandline
printf program.
$ printf '%f\n' 0x0P+0 0x0P+0 0x0P+0 0x0P+0 0x1.059CF4D8377FAP+4 0x0P+0
0.00
0.00
0.00
0.00
16.350819
0.00

so this is the specific joint position for which the code is failing to
calculate the inverse jacobian.

Jeff

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Re: [Emc-users] Any Interest or Ideas for a Linuxcnc Fest 2016 ?

[Ed]

On 06/15/2016 02:13 PM, Stuart Stevenson wrote:
> This will most probably be an October 7th, 8th and 9th event.
> In all honesty anyone can come at any time.
>
I haven't been paying attention to this. Is this the correct date?

Ed.


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[Emc-users] genserkins errors

[Alyssa Wells]

Any attempt to jog the robot in world mode causes a flood of kinematics errors 
in the kernel log, which eventually freezes the computer.
Attached are the HAL file for this configuration and a sample of the errors 
output by dmesg

We have also used genserkins from the command line to test our parameters, it 
also throws errors and does not solve the kinematics (forward or inverse). We 
tried command line genserkins with the default PUMA config also (the one that 
uses genserkins, not pumakins) and it will solve a forward or inverse 
kinematics solution, AND throws errors at the same time.

If anyone has any insight into why this is happening, any information would be 
greatly appreciated.

Thanks!

Alyssa Wells



kuka_sim_6.hal
Description: kuka_sim_6.hal
[92107.768149] ERR kI - compute_jinv (joints: 0x0P+0 0x0P+0 0x0P+0 0x0P+0 
0x1.059CF4D8377FAP+4 0x0P+0), (iterations=0)
[92107.769151] ERR kI - compute_jinv (joints: 0x0P+0 0x0P+0 0x0P+0 0x0P+0 
0x1.059CF4D8377FAP+4 0x0P+0), (iterations=0)
[92107.770146] ERR kI - compute_jinv (joints: 0x0P+0 0x0P+0 0x0P+0 0x0P+0 
0x1.059CF4D8377FAP+4 0x0P+0), (iterations=0)
[92107.771141] ERR kI - compute_jinv (joints: 0x0P+0 0x0P+0 0x0P+0 0x0P+0 
0x1.059CF4D8377FAP+4 0x0P+0), (iterations=0)
[92107.772133] ERR kI - compute_jinv (joints: 0x0P+0 0x0P+0 0x0P+0 0x0P+0 
0x1.059CF4D8377FAP+4 0x0P+0), (iterations=0)
[92107.773132] ERR kI - compute_jinv (joints: 0x0P+0 0x0P+0 0x0P+0 0x0P+0 
0x1.059CF4D8377FAP+4 0x0P+0), (iterations=0)
[92107.774130] ERR kI - compute_jinv (joints: 0x0P+0 0x0P+0 0x0P+0 0x0P+0 
0x1.059CF4D8377FAP+4 0x0P+0), (iterations=0)
[92107.775129] ERR kI - compute_jinv (joints: 0x0P+0 0x0P+0 0x0P+0 0x0P+0 
0x1.059CF4D8377FAP+4 0x0P+0), (iterations=0)
[92107.776125] ERR kI - compute_jinv (joints: 0x0P+0 0x0P+0 0x0P+0 0x0P+0 
0x1.059CF4D8377FAP+4 0x0P+0), (iterations=0)
[92107.777122] ERR kI - compute_jinv (joints: 0x0P+0 0x0P+0 0x0P+0 0x0P+0 
0x1.059CF4D8377FAP+4 0x0P+0), (iterations=0)
[92107.778120] ERR kI - compute_jinv (joints: 0x0P+0 0x0P+0 0x0P+0 0x0P+0 
0x1.059CF4D8377FAP+4 0x0P+0), (iterations=0)
[92107.779116] ERR kI - compute_jinv (joints: 0x0P+0 0x0P+0 0x0P+0 0x0P+0 
0x1.059CF4D8377FAP+4 0x0P+0), (iterations=0)
[92107.780109] ERR kI - compute_jinv (joints: 0x0P+0 0x0P+0 0x0P+0 0x0P+0 
0x1.059CF4D8377FAP+4 0x0P+0), (iterations=0)
[92107.781110] ERR kI - compute_jinv (joints: 0x0P+0 0x0P+0 0x0P+0 0x0P+0 
0x1.059CF4D8377FAP+4 0x0P+0), (iterations=0)
[92107.782108] ERR kI - compute_jinv (joints: 0x0P+0 0x0P+0 0x0P+0 0x0P+0 
0x1.059CF4D8377FAP+4 0x0P+0), (iterations=0)
[92107.783106] ERR kI - compute_jinv (joints: 0x0P+0 0x0P+0 0x0P+0 0x0P+0 
0x1.059CF4D8377FAP+4 0x0P+0), (iterations=0)
[92107.784116] ERR kI - compute_jinv (joints: 0x0P+0 0x0P+0 0x0P+0 0x0P+0 
0x1.059CF4D8377FAP+4 0x0P+0), (iterations=0)
[92107.785116] ERR kI - compute_jinv (joints: 0x0P+0 0x0P+0 0x0P+0 0x0P+0 
0x1.059CF4D8377FAP+4 0x0P+0), (iterations=0)
[92107.786106] ERR kI - compute_jinv (joints: 0x0P+0 0x0P+0 0x0P+0 0x0P+0 
0x1.059CF4D8377FAP+4 0x0P+0), (iterations=0)
[92107.787112] ERR kI - compute_jinv (joints: 0x0P+0 0x0P+0 0x0P+0 0x0P+0 
0x1.059CF4D8377FAP+4 0x0P+0), (iterations=0)
[92107.788094] ERR kI - compute_jinv (joints: 0x0P+0 0x0P+0 0x0P+0 0x0P+0 
0x1.059CF4D8377FAP+4 0x0P+0), (iterations=0)
[92107.789096] ERR kI - compute_jinv (joints: 0x0P+0 0x0P+0 0x0P+0 0x0P+0 
0x1.059CF4D8377FAP+4 0x0P+0), (iterations=0)
[92107.790091] ERR kI - compute_jinv (joints: 0x0P+0 0x0P+0 0x0P+0 0x0P+0 
0x1.059CF4D8377FAP+4 0x0P+0), (iterations=0)
[92107.791089] ERR kI - compute_jinv (joints: 0x0P+0 0x0P+0 0x0P+0 0x0P+0 
0x1.059CF4D8377FAP+4 0x0P+0), (iterations=0)
[92107.792083] ERR kI - compute_jinv (joints: 0x0P+0 0x0P+0 0x0P+0 0x0P+0 
0x1.059CF4D8377FAP+4 0x0P+0), (iterations=0)
[92107.793084] ERR kI - compute_jinv (joints: 0x0P+0 0x0P+0 0x0P+0 0x0P+0 
0x1.059CF4D8377FAP+4 0x0P+0), (iterations=0)
[92107.794078] ERR kI - compute_jinv (joints: 0x0P+0 0x0P+0 0x0P+0 0x0P+0 
0x1.059CF4D8377FAP+4 0x0P+0), (iterations=0)
[92107.795077] ERR kI - compute_jinv (joints: 0x0P+0 0x0P+0 0x0P+0 0x0P+0 
0x1.059CF4D8377FAP+4 0x0P+0), (iterations=0)
[92107.796068] ERR kI - compute_jinv (joints: 0x0P+0 0x0P+0 0x0P+0 0x0P+0 
0x1.059CF4D8377FAP+4 0x0P+0), (iterations=0)
[92107.797075] ERR kI - compute_jinv (joints: 0x0P+0 0x0P+0 0x0P+0 0x0P+0 
0x1.059CF4D8377FAP+4 0x0P+0), (iterations=0)
[92107.798073] ERR kI - compute_jinv (joints: 0x0P+0 0x0P+0 0x0P+0 0x0P+0 
0x1.059CF4D8377FAP+4 0x0P+0), (iterations=0)
[92107.799069] ERR kI - compute_jinv (joints: 0x0P+0 0x0P+0 0x0P+0 0x0P+0 
0x1.059CF4D8377FAP+4 0x0P+0), (iterations=0)
[92107.800060] ERR kI - compute_jinv (joints: 0x0P+0 0x0P+0 0x0P+0 0x0P+0 
0x1.059CF4D8377FAP+4 0x0P+0), (iterations=0)
[92107.801061] ERR kI - compute_jinv (joints: 0x0P+0 0x0P+0 0x0P+0 0x0P+0 
0x1.059CF4D8377FAP+4 0x0P+0), (iterations=0)
[92107.802059] ERR kI - compute_jinv (joints: 0x0P+0 0x0P+0 0x0P+0 0x0P+0 
0x1.059CF4D8377FAP+4 0x0P+0), (iterations=0)
[92107.803060] ERR kI - 

Re: [Emc-users] feed rate interpretation in g01

[Klemen Živkovič]

Because machine has two rotating disk, that are used to clamp pipe.
If I want to have both disk to have same angle (so they can grip
rectangular pipe) I need the ability to separately rotate both of them.
I also use two separated stepper drivers for this reason.
For ilustration you can maybe check pictures of my project at:
https://goo.gl/photos/4A623DBE1DQRwYfcA

regards,

On Mon, Aug 22, 2016 at 10:40 AM, Andrew  wrote:

> 2016-08-22 2:43 GMT+03:00 Klemen Živkovič :
>
> > Oh yes I see how you calculate it for this example on simulation.
> > Actually I would need to make and calculate it for general case where
> > fillet can be only quarter of length or any other arbitrary length. I get
> > line segments from 3d cad program.
> >
> > Need to think if calculation of g93 feed is possible from having start
> and
> > end point of tiny line segments (center of rotation always at x=0 and
> z=0).
> >
> > If you split fillet arcs into short segments, you still have to consider
> X
> moves.
> How do you prepare G-code?
>
> Also, why A and B if you only have one rotary axis?
> 
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Re: [Emc-users] feed rate interpretation in g01

[Andrew]

2016-08-22 2:43 GMT+03:00 Klemen Živkovič :

> Oh yes I see how you calculate it for this example on simulation.
> Actually I would need to make and calculate it for general case where
> fillet can be only quarter of length or any other arbitrary length. I get
> line segments from 3d cad program.
>
> Need to think if calculation of g93 feed is possible from having start and
> end point of tiny line segments (center of rotation always at x=0 and z=0).
>
> If you split fillet arcs into short segments, you still have to consider X
moves.
How do you prepare G-code?

Also, why A and B if you only have one rotary axis?
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