Re: [Emc-users] Cannot unsubscribe
Done, it was in the spam folder. Thanks, Javier On Tue, Jan 15, 2019 at 10:23 AM Javier Ros wrote: > Dear all, > > I'm trying to unsubscribe form the list. But I cannot subscribe myself > using > this link https://lists.sourceforge.net/lists/listinfo/emc-users > > I don receive any email or confirmation message after pressing > unsusbscribe. > > I'm pretty sure my subscription is under "j...@unavarra.es", although > this email is redirected to "jabier@gmail.com". > > I don't know who is the list admin. > > Can you help me out?. > > Thanks in advance. Best regards. > > Javier > ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Real-Time Image procesing in HAL (WAS opencv for shape recognition...)
Thanks for your answers. This looks like an important problem to me, looking at the foreseable future Artificial Vision is going to have a preeminent role everywhere. I expect machines including CNC controls making some use of it, anv envision some CNC paradigm changes, leaded by this revolution. As from LinuxCNC manual page, it says: DESCRIPTION hal_create_thread establishes a realtime thread that will execute one or more HAL functions periodically. All thread periods are rounded to integer multiples of the hardware timer period, and the timer period is based on the first thread created. Threads must be created in order, from the fastest to the slowest. HAL assigns decreasing priorities to threads that are created later, so creating them from fastest to slowest results in rate monotonic priority scheduling. ... So it is rate monotonic scheduling. So I think that the slow task, no matter how slow, will get scheduled. The only requirement, would be to get the period for the slow thread, big enough recording and, so that it can finish with the image grabbing processing. It would be nice to know, if opencv has been written with real time in mind, so that memory allocation, pagefaults et al. works in a compatible way can be taken away from the show time. A interesting question would be to know, how well multicore procesors are taken advantage by LinuxCNC HAL. Let say, can we reserve a couple of processors ans schedule different threads in different cores?. Would HAL execute different functions in the same thread at different cores?. Thanks very much for your answers. I apologize for my late reply :), Javier -- Comprehensive Server Monitoring with Site24x7. Monitor 10 servers for $9/Month. Get alerted through email, SMS, voice calls or mobile push notifications. Take corrective actions from your mobile device. http://p.sf.net/sfu/Zoho ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] opencv for shape recognition
Very interesting Ralph. I always wandered if it would be possible to do head position tracking for robot calibration based on OpenCV. Do you think that this would be possible using a real time HAL module, written in C, using the a PREEMPT RT PATH real time based kernel?. If it is possible, I suppose that GPU power could theoretically be made available to OpenCV operations. What is you opinion?. Thanks, Javier On Tue, Oct 7, 2014 at 9:20 PM, Ralph Stirling ralph.stirl...@wallawalla.edu wrote: This is what I used to do machine vision homing a couple of years ago: FitElipse is a function that finds the best fit circle in the frame. I can supply that function too if you like. It is adapted from examples I found online. # homecart.py import sys import urllib2 import random import cv2.cv as cv import time import hal if __name__ == '__main__': h = hal.component(homecart) h.newpin(offset, hal.HAL_FLOAT, hal.HAL_OUT) h.newpin(located, hal.HAL_BIT, hal.HAL_OUT) h.ready() capture = cv.CaptureFromCAM(0) while True: img = cv.QueryFrame(capture) gimg = cv.CreateImage((640,480), cv.IPL_DEPTH_8U, 1) cv.CvtColor(img, gimg, cv.CV_RGB2GRAY) fe = FitEllipse(gimg, 116) h['offset'] = fe.offset h['located'] = fe.located In the hal file, I have: loadusr ./homecart # Can't have .py on the end of the filename then I can use homecart.located and homecard.offset pins. I can't find an example where I actually used it to do the homing though. I must have gotten distracted by something else before I got that step completed. Hope this is useful. -- Ralph -- Ralph From: sam sokolik [sa...@empirescreen.com] Sent: Tuesday, October 07, 2014 11:59 AM To: Enhanced Machine Controller (EMC) Subject: Re: [Emc-users] opencv for shape recognition You make it sound /so/ easy... :) sam On 10/7/2014 1:09 PM, andy pugh wrote: On 7 October 2014 19:06, sam sokolik sa...@empirescreen.com wrote: this is my first real exposure to python. the next step is to see how I can fidldle hal stuff with it.. import hal make hal pins, job done :-) -- Meet PCI DSS 3.0 Compliance Requirements with EventLog Analyzer Achieve PCI DSS 3.0 Compliant Status with Out-of-the-box PCI DSS Reports Are you Audit-Ready for PCI DSS 3.0 Compliance? Download White paper Comply to PCI DSS 3.0 Requirement 10 and 11.5 with EventLog Analyzer http://pubads.g.doubleclick.net/gampad/clk?id=154622311iu=/4140/ostg.clktrk ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users -- Meet PCI DSS 3.0 Compliance Requirements with EventLog Analyzer Achieve PCI DSS 3.0 Compliant Status with Out-of-the-box PCI DSS Reports Are you Audit-Ready for PCI DSS 3.0 Compliance? Download White paper Comply to PCI DSS 3.0 Requirement 10 and 11.5 with EventLog Analyzer http://pubads.g.doubleclick.net/gampad/clk?id=154622311iu=/4140/ostg.clktrk ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users -- Meet PCI DSS 3.0 Compliance Requirements with EventLog Analyzer Achieve PCI DSS 3.0 Compliant Status with Out-of-the-box PCI DSS Reports Are you Audit-Ready for PCI DSS 3.0 Compliance? Download White paper Comply to PCI DSS 3.0 Requirement 10 and 11.5 with EventLog Analyzer http://pubads.g.doubleclick.net/gampad/clk?id=154622311iu=/4140/ostg.clktrk ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] opencv for shape recognition
So, would that imply that the OpneCV calling module is doable in RT, at least if scheduling at a low enough frequency? Thanks, Javier On Wed, Oct 8, 2014 at 11:09 AM, Karlsson Wang nicklas.karls...@karlssonwang.se wrote: I do not know about the scheduling for the hal but for ordinary preemptive real time system with EDF or Rate-Monotonic scheduling a suitable priority is the way to do it all the way down to GUI or even slower. Nicklas Karlsson On Wed, 8 Oct 2014 10:05:04 +0100 andy pugh bodge...@gmail.com wrote: On 8 October 2014 09:00, Javier Ros j...@unavarra.es wrote: Do you think that this would be possible using a real time HAL module, written in C, using the a PREEMPT RT PATH real time based kernel? I would be surprised if OpenCV was thread-safe or deterministic enough to run in a real-time thread. A userspace HAL module could export pins for use by the real-time code. This might work well enough. -- atp If you can't fix it, you don't own it. http://www.ifixit.com/Manifesto -- Meet PCI DSS 3.0 Compliance Requirements with EventLog Analyzer Achieve PCI DSS 3.0 Compliant Status with Out-of-the-box PCI DSS Reports Are you Audit-Ready for PCI DSS 3.0 Compliance? Download White paper Comply to PCI DSS 3.0 Requirement 10 and 11.5 with EventLog Analyzer http://pubads.g.doubleclick.net/gampad/clk?id=154622311iu=/4140/ostg.clktrk ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users -- Meet PCI DSS 3.0 Compliance Requirements with EventLog Analyzer Achieve PCI DSS 3.0 Compliant Status with Out-of-the-box PCI DSS Reports Are you Audit-Ready for PCI DSS 3.0 Compliance? Download White paper Comply to PCI DSS 3.0 Requirement 10 and 11.5 with EventLog Analyzer http://pubads.g.doubleclick.net/gampad/clk?id=154622311iu=/4140/ostg.clktrk ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users -- Meet PCI DSS 3.0 Compliance Requirements with EventLog Analyzer Achieve PCI DSS 3.0 Compliant Status with Out-of-the-box PCI DSS Reports Are you Audit-Ready for PCI DSS 3.0 Compliance? Download White paper Comply to PCI DSS 3.0 Requirement 10 and 11.5 with EventLog Analyzer http://pubads.g.doubleclick.net/gampad/clk?id=154622311iu=/4140/ostg.clktrk ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Manually Setting Motion Analog Digital Output Values
I'm not an expert, but maybe it is because your analog output is associated with a given axis/joint, If you remove the axis, so that it is not controlled by the motion controller, may be it is possible to set the value as you intend. In this case the given motion.analog-out-00 is not hal-wired to anything and you cahange the value of whatever input pin was attached to previously to motion.analog-out-00 Not sure if this will fulfill your needs. Good luck, Javier On Mon, Nov 25, 2013 at 6:02 PM, Charles Steinkuehler char...@steinkuehler.net wrote: I want to switch to using motion analog/digital outputs and M6x commands for control of temperatures, fans, etc. on my 3D printer, but I can't figure out how to change these values manually. When I use an M1xx code and a HAL signal, I can just use halcmd to set the desired value regardless of whether or not a program is running, but I can't figure out how to do that with the motion outputs. When I try setting the values via HAL, I get an error: $ halcmd setp motion.analog-out-00 32 commandline:0: pin 'motion.analog-out-00' is not writable So how can I update these values manually if a program is running? It is important to be able to tweak some of these (particularly the temperature settings) based on how the print is progressing. Using the M1xx codes breaks blending, which causes blobs on the resulting print, or I wouldn't be trying to use the analog/digital motion outputs. -- Charles Steinkuehler char...@steinkuehler.net -- Shape the Mobile Experience: Free Subscription Software experts and developers: Be at the forefront of tech innovation. Intel(R) Software Adrenaline delivers strategic insight and game-changing conversations that shape the rapidly evolving mobile landscape. Sign up now. http://pubads.g.doubleclick.net/gampad/clk?id=63431311iu=/4140/ostg.clktrk ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users -- Shape the Mobile Experience: Free Subscription Software experts and developers: Be at the forefront of tech innovation. Intel(R) Software Adrenaline delivers strategic insight and game-changing conversations that shape the rapidly evolving mobile landscape. Sign up now. http://pubads.g.doubleclick.net/gampad/clk?id=63431311iu=/4140/ostg.clktrk ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] lineardeltakins and 'World mode' problems
Change tour model so it can have an offset for the joint coordinates. Then give an arbitrary value to your offset so that z gets a value inside the working limits. I think this will work. If after this you get a following error, ask again :). Javier El 03/09/2013 23:09, Charles Steinkuehler char...@steinkuehler.net escribió: On 9/3/2013 3:10 PM, Bob Weiss wrote: Ok, I got it into World mode and my next issue is I tried to issue the command: G0 Z10 and G0 Z-10 and it gives me an error saying the command would put the axis past its postive limit. It said this 3 times for each axis After homeing the machine and switching to World mode it made X and Y 0.0 but changed Z to -278.00 ? Not sure where it got that value from for Z? I was able to do G0 X10 Y10 before the command above and it seemed to move the 3 axis properly to that position. Its just the Z command isn't moving anything? I don't have much to add, but if you have the time, please take some notes on the issues that give you problems. You're way ahead of me on getting the delta kinematics going, and you are one of the first folks getting into using LinuxCNC with a 3D printer who was not already at least somewhat familiar with CNC controls (LinuxCNC or others). Your experiences and impressions will help make it easier for other new users. Even if you don't have time to do a full write up, if you send me your gotchas, I'll at least make a FAQ or watch out for... page on my blog. Thanks! Oh...and remember: http://www.despair.com/mistakes.html :) -- Charles Steinkuehler char...@steinkuehler.net -- Learn the latest--Visual Studio 2012, SharePoint 2013, SQL 2012, more! Discover the easy way to master current and previous Microsoft technologies and advance your career. Get an incredible 1,500+ hours of step-by-step tutorial videos with LearnDevNow. Subscribe today and save! http://pubads.g.doubleclick.net/gampad/clk?id=58040911iu=/4140/ostg.clktrk ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users -- Learn the latest--Visual Studio 2012, SharePoint 2013, SQL 2012, more! Discover the easy way to master current and previous Microsoft technologies and advance your career. Get an incredible 1,500+ hours of step-by-step tutorial videos with LearnDevNow. Subscribe today and save! http://pubads.g.doubleclick.net/gampad/clk?id=58040911iu=/4140/ostg.clktrk ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] lineardeltakins and 'World mode' problems
A simple aproach may be to change the kinematics code so that you add Z0 to the value you compute now for Z in the direct ( world coord obtained from joint coord) model, and substract the same Z0 to J1 J2 J3 (joint coordinates) in the inverse (joint coordinates from world coordinates) model. I can elaborate more if you find difficult to follow me. You can privetely send me the kinematic module so I can be more specific. LCNC can work only with the inverse model so you can deactivate the direct model at least to debug, direct model is used only to display the actual world coordinates (suposing your direct model is correct). Now speaking form memory (years ago): Note that when homing is done joint coordinates will be reset again (to he HOME_OFFSET value specified in init), and then your direct model shoud give meaningfull values (for those HOME_OFFSET values) and within your allowabe region in world coordinates. That is your model (in particular the ones I am speaking about) is dependent on your specification of the homing sequence (HOME_OFFSET value on INI file) and should be coherent with the limits tou put in working region in world coordinates (I think this is specified as well in the INI) Hope this helps, Javier On Wed, Sep 4, 2013 at 5:31 PM, Bob Weiss bweiss0...@gmail.com wrote: On Wed, Sep 4, 2013 at 10:22 AM, emc-users-requ...@lists.sourceforge.net wrote: Re: lineardeltakins and 'World mode' problems (Javier Ros) Change tour model so it can have an offset for the joint coordinates. Then give an arbitrary value to your offset so that z gets a value inside the working limits. Javier: Thank you for the information! Can I ask you to explain a little more? What do you mean by change model so it can offset for the joint coordinates? Can you give me an example for this? What would I change the INI file settings or in Axis GUI itself? Bob -- Learn the latest--Visual Studio 2012, SharePoint 2013, SQL 2012, more! Discover the easy way to master current and previous Microsoft technologies and advance your career. Get an incredible 1,500+ hours of step-by-step tutorial videos with LearnDevNow. Subscribe today and save! http://pubads.g.doubleclick.net/gampad/clk?id=58040911iu=/4140/ostg.clktrk ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users -- Learn the latest--Visual Studio 2012, SharePoint 2013, SQL 2012, more! Discover the easy way to master current and previous Microsoft technologies and advance your career. Get an incredible 1,500+ hours of step-by-step tutorial videos with LearnDevNow. Subscribe today and save! http://pubads.g.doubleclick.net/gampad/clk?id=58041391iu=/4140/ostg.clktrk ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Stupid LinuxCNC Tricks
You mean like the rostock?.
This is the code for arduino (marlin modification for rostock). This is the
inverse model, (input cartesian -cartesian array in the code- and output
joint coordinates- delta array in the code-),
void calculate_delta(float cartesian[3])
{
delta[X_AXIS] = sqrt(sq(DELTA_DIAGONAL_ROD)
- sq(DELTA_TOWER1_X-cartesian[X_
AXIS])
- sq(DELTA_TOWER1_Y-cartesian[Y_AXIS])
) + cartesian[Z_AXIS];
delta[Y_AXIS] = sqrt(sq(DELTA_DIAGONAL_ROD)
- sq(DELTA_TOWER2_X-cartesian[X_AXIS])
- sq(DELTA_TOWER2_Y-cartesian[Y_AXIS])
) + cartesian[Z_AXIS];
delta[Z_AXIS] = sqrt(sq(DELTA_DIAGONAL_ROD)
- sq(DELTA_TOWER3_X-cartesian[X_AXIS])
- sq(DELTA_TOWER3_Y-cartesian[Y_AXIS])
) + cartesian[Z_AXIS];
}
But I think there is somebody playing with the Rostock and LCNC so a more
direct answer should be available.
Cheers,
Javier
On Wed, Jul 10, 2013 at 8:28 PM, Eric Keller eekel...@psu.edu wrote:
On Tue, Oct 23, 2012 at 11:38 PM, Charles Steinkuehler
char...@steinkuehler.net wrote:
The ultimate goal of all this is to make a delta-arm 3D printer and
use kinematics in LinuxCNC for the tricky math bits that are hard to
do on the AVR micro-controllers most 3D printers use for control.
Now that I know more about delta robots, I was curious if anyone had
seen code for the kinematics for a linear delta robot? I have
articles about it, but would rather not code it up from scratch if I
don't have to do that. There is a topic on the Lcnc forum about this,
but the question remains unanswered.
I blame Charles for my new-found obsession with delta robots.
Eric
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Re: [Emc-users] LinuxCNC Integrator meeting Germany?
Depending on dates, and time/money availability I would try to get there too... Javier Ros On Fri, Jun 14, 2013 at 2:14 PM, Maximilian H mhemc2nos...@googlemail.comwrote: Hello Everybody, I collected these emails of the eleven interested people who already stated their interest in a linuxcnc meeting. Four of those people are close to Stuttgart, two are from Austria (please correct me if I am wrong). So I think it would be sensible to meet somewhere in or around Stuttgart. So I think there are three mayor questions: 1. Location - Something big enough to bring gear, something to mess around with, maybe have one cnc machine there ? Anybody got ideas ? 2. Date - maybe not before the summer holidays start ? So maybe late September or early October 2013 - when everybody is back ? That would give people time to make travel arrangements and have a chance at a still free schedule. 3. What to do if we should meet up ;) I have a small (1,2m x 1,5m) cnc machine with linuxcnc that I could load into a van. But I'd need a forklift at the destination to unload and three phase electric power, too. -- Here are the interested people: Christian Stöveken, christian.stoeve...@gmail.com, Stuttgart, Germany Michael Haberler, mai...@mah.priv.at, Austria Martin Schöneck, c...@martinschoeneck.de, Ludwigsburg - near Stuttgart, Germany Alex Joni, alex.j...@robcon.ro, Timișoara (still?), Romania Sven Wesley, svenne.d...@gmail.com, loc. unknown Viesturs Lācis, viesturs.la...@gmail.com, loc. unknown Matt Shaver, m...@mattshaver.com, USA Alex Chiosso, achio...@gmail.com, northern Italy Jan Maier, jan.ma...@joline.net, Tuebingen - near Stuttgart, Germany W. Martinjak, mats...@play-pla.net, Graz, Austria Maximilian H., mhemc2nos...@googlemail.com, near Stuttgart, Germany BR Max. -- This SF.net email is sponsored by Windows: Build for Windows Store. http://p.sf.net/sfu/windows-dev2dev ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users -- This SF.net email is sponsored by Windows: Build for Windows Store. http://p.sf.net/sfu/windows-dev2dev ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] LinuxCNC Integrator meeting Germany?
Sorry, my location is Pamplona/Iruña Spain On Fri, Jun 14, 2013 at 4:48 PM, Javier Ros j...@unavarra.es wrote: Depending on dates, and time/money availability I would try to get there too... Javier Ros On Fri, Jun 14, 2013 at 2:14 PM, Maximilian H mhemc2nos...@googlemail.com wrote: Hello Everybody, I collected these emails of the eleven interested people who already stated their interest in a linuxcnc meeting. Four of those people are close to Stuttgart, two are from Austria (please correct me if I am wrong). So I think it would be sensible to meet somewhere in or around Stuttgart. So I think there are three mayor questions: 1. Location - Something big enough to bring gear, something to mess around with, maybe have one cnc machine there ? Anybody got ideas ? 2. Date - maybe not before the summer holidays start ? So maybe late September or early October 2013 - when everybody is back ? That would give people time to make travel arrangements and have a chance at a still free schedule. 3. What to do if we should meet up ;) I have a small (1,2m x 1,5m) cnc machine with linuxcnc that I could load into a van. But I'd need a forklift at the destination to unload and three phase electric power, too. -- Here are the interested people: Christian Stöveken, christian.stoeve...@gmail.com, Stuttgart, Germany Michael Haberler, mai...@mah.priv.at, Austria Martin Schöneck, c...@martinschoeneck.de, Ludwigsburg - near Stuttgart, Germany Alex Joni, alex.j...@robcon.ro, Timișoara (still?), Romania Sven Wesley, svenne.d...@gmail.com, loc. unknown Viesturs Lācis, viesturs.la...@gmail.com, loc. unknown Matt Shaver, m...@mattshaver.com, USA Alex Chiosso, achio...@gmail.com, northern Italy Jan Maier, jan.ma...@joline.net, Tuebingen - near Stuttgart, Germany W. Martinjak, mats...@play-pla.net, Graz, Austria Maximilian H., mhemc2nos...@googlemail.com, near Stuttgart, Germany BR Max. -- This SF.net email is sponsored by Windows: Build for Windows Store. http://p.sf.net/sfu/windows-dev2dev ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users -- This SF.net email is sponsored by Windows: Build for Windows Store. http://p.sf.net/sfu/windows-dev2dev ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] 3d scanner
Can you point us to such a $500 depth sensor?. Thanks, Javier On Wed, Jun 12, 2013 at 4:34 AM, jeremy youngs jcyoung...@gmail.com wrote: why not just probe check the technology is already mature. not tryin to disuade just sayin i mean if you are developing it great please share in the wiki On Tue, Jun 11, 2013 at 9:53 PM, a k pccncmach...@gmail.com wrote: Hi i want to talk about 3d laser scanner. this is new technology that can be add to EMC2 Big picture is to generate intelligent milling machine machine tool. With 3d scanner machine tool can see inspect part that it cutting, analyze make correction and recut, Depth sensor cost around $500 and rest is software. I think that by adding 3d scanner ability to EMC2 possible create new generation 5th generation machine tool. thanks aram -- This SF.net email is sponsored by Windows: Build for Windows Store. http://p.sf.net/sfu/windows-dev2dev ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users -- We conclude that the Second Amendment protects an individual right to keep and bear arms. That right existed prior to the formation of the new government under the Constitution and was premised on the private use of arms for activities such as hunting and self-defense, the latter being understood as resistance to either private lawlessness or the depredations of a tyrannical government. - U.S. Court of Appeals, D.C. Circuit, March 9, 2007 jeremy youngs -- This SF.net email is sponsored by Windows: Build for Windows Store. http://p.sf.net/sfu/windows-dev2dev ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users -- This SF.net email is sponsored by Windows: Build for Windows Store. http://p.sf.net/sfu/windows-dev2dev ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Closed loop stepping system
Thanks Gene, this has been a very enriching discussion. No plans still for the Hubles's mirror :). Cheers, Javier On Wed, Apr 10, 2013 at 7:37 PM, Gene Heskett ghesk...@wdtv.com wrote: On Wednesday 10 April 2013 13:01:29 Javier Ros did opine: This system http://www.automationtechnologiesinc .com/products-page/nema23-closed-loop-stepper-motor-system-hybrid-servo- kit/hybrid-servo-drive-kl-5080h Is apparently a stepper motor that is controlled as a brushless. Essentially a stepper is a brushless. This needs a encoder, probably one with a index pulse correctly positioned, so that the electronics can compute the switching accurately. This means, even if the control of the drive looks like a STEP DIR control, internally there are position and current loops, theoretically such a drive could offer, velocity and current control (I've not checked for the above reference). This means essentially that, the motor runs cooler, because only the required intensity is flowing in the motor, and not the maximum required intensity (the one that is controlled with the typical potentiometer in typical stepper drives). This means as well that the motor runs smoother, this must be most noticeable at low velocities, and finally that the positioning can be as precise as the encoder is. I regard of precision, note that a stepper, is not as precise as 3600/steps_per_revolution/microsteps, because microsteps don need to be equally spaced, even steps are not precise due to manufacturing (magnetic field) do not have to be equally spaced. In addition to this forces make that the motor is not centered at the center of the microstep. Let me fine tune this by pointing out that the stepper motor maker can, with access to the maps the controller uses to adjust its currents when microstepping, could be fine tuned such that at light loading, the microsteps can be pretty accurate. This of course means the motor and the controller must be calibrated to each other. That will be the makers job since few if any of us have the tools to do that, and it sure wouldn't be feasible economically for everyone to own their own stuff to do that. More just plain old comment: The noise would likely go down a bit, but since we aren't also throttling the current in many drivers (mine does after about a second of no motion, so mine only heat about 15F when idle), the motor is still going to run hot. The ideal situation would be by adjusting the overall currents to keep the motor within say 20%/microstep of the ideal microstepped position, but again this would require a high precision encoder, or some sort of magnetically detected feedback to detect the error in real time only use enough current to achieve that. But at that point, you may as well spend the money on a servo system, which may well be what this outfit is doing. Net cost will be similar. My current stepper setup, using 425oz motors on the lathe, was just under $100/axis. This is only a 252oz motor and costs USD 210/axis. I can't seem to justify the extra sheckel's for me. In comparison a brushless type encoder based drive for steeper can be as precise as the encoder, you know the actual position with the encoder position, although the position can be different of the commanded position, but you know the difference. The only limitations seem to be related to control at hih rpms, performance degrades in comparison with brushless. I would say that this is related to the higher pole count of the steeper,and the inherent dificulty to stablish intensity at high pole conmutation frecuency due to impedance, something that con be alleviated increaing voltage as much as possible.. In regard to this the error position, it can be even smaller in this brushless system because, as it runs cooler, you can allow for small duration current higher than the nominal. For a steeper you can not surpass the nominal value, not for the motor not for the electronics. Theoretically true. The motor can be banged with considerable overcurrent when it is lightly loaded and essentially exactly in position, but if half s step off or more due to heavy loading, then the rotor's magnetism could be effected, permanently damaging the motor. I've never run a system of this type, but I would love to use one of the MESA cards and brushless firmwares to test a such a setup (I'm interested in current control) if somebody with more experience thinks/knowns this is possible and not too difficult. Just using a double shaft stepper and a cheap encoder. I would love, to identify stepper cogging, and to software compensate for it. A moot point IMO when the gearing is such that 1 microstep is a fraction of a micron without resorting to a doubling of cost per axis. I haven't actually checked, as my step accuracy is the same on both axis's of the lathe, the x is a 2.5mm/turn screw, the z is 5
Re: [Emc-users] Closed loop stepping system
This system http://www.automationtechnologiesinc .com/products-page/nema23-closed-loop-stepper-motor-system-hybrid-servo-kit/hybrid-servo-drive-kl-5080h Is apparently a stepper motor that is controlled as a brushless. Essentially a stepper is a brushless. This needs a encoder, probably one with a index pulse correctly positioned, so that the electronics can compute the switching accurately. This means, even if the control of the drive looks like a STEP DIR control, internally there are position and current loops, theoretically such a drive could offer, velocity and current control (I've not checked for the above reference). This means essentially that, the motor runs cooler, because only the required intensity is flowing in the motor, and not the maximum required intensity (the one that is controlled with the typical potentiometer in typical stepper drives). This means as well that the motor runs smoother, this must be most noticeable at low velocities, and finally that the positioning can be as precise as the encoder is. I regard of precision, note that a stepper, is not as precise as 3600/steps_per_revolution/microsteps, because microsteps don need to be equally spaced, even steps are not precise due to manufacturing (magnetic field) do not have to be equally spaced. In addition to this forces make that the motor is not centered at the center of the microstep. In comparison a brushless type encoder based drive for steeper can be as precise as the encoder, you know the actual position with the encoder position, although the position can be different of the commanded position, but you know the difference. The only limitations seem to be related to control at hih rpms, performance degrades in comparison with brushless. I would say that this is related to the higher pole count of the steeper,and the inherent dificulty to stablish intensity at high pole conmutation frecuency due to impedance, something that con be alleviated increaing voltage as much as possible.. In regard to this the error position, it can be even smaller in this brushless system because, as it runs cooler, you can allow for small duration current higher than the nominal. For a steeper you can not surpass the nominal value, not for the motor not for the electronics. I've never run a system of this type, but I would love to use one of the MESA cards and brushless firmwares to test a such a setup (I'm interested in current control) if somebody with more experience thinks/knowns this is possible and not too difficult. Just using a double shaft stepper and a cheap encoder. I would love, to identify stepper cogging, and to software compensate for it. This said, if the proposed system works as theoretically expected, it looks to me it has a pretty reasonable price. Regard, Javier On Wed, Apr 10, 2013 at 6:45 AM, Viesturs Lācis viesturs.la...@gmail.comwrote: 2013/4/10 Tomaz T. tomaz_...@hotmail.com The whole point is that I don't have any feedback from steppers at this stage, and as I said, the cheapest solution would be to simply change the existing one with the one with closed loop future (and also drivers). So the basic idea might be to use In-Position signal (output) from stepper driver and when this goes fault, it triggers following error in linuxcnc. Could this work? So why don't You put encoders on stepper motors and link encoder position to axis.n.motor-pos-fb pin and let LinuxCNC track actual motor position and it definitely will trigger following error, once it has been reached. This way there are no fancy stepper drives and motors are required. Anyone using this stepper system from kelinginc? http://www.automationtechnologiesinc.com/products-page/nema23-closed-loop-stepper-motor-system-hybrid-servo-kit/hybrid-servo-drive-kl-5080h No tuning of feedback loop? Well, then I do not see, how does this system achieve its goal and correct for motor's position error. -- Viesturs If you can't fix it, you don't own it. http://www.ifixit.com/Manifesto -- Precog is a next-generation analytics platform capable of advanced analytics on semi-structured data. The platform includes APIs for building apps and a phenomenal toolset for data science. Developers can use our toolset for easy data analysis visualization. Get a free account! http://www2.precog.com/precogplatform/slashdotnewsletter ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users -- Precog is a next-generation analytics platform capable of advanced analytics on semi-structured data. The platform includes APIs for building apps and a phenomenal toolset for data science. Developers can use our toolset for easy data analysis visualization. Get a free account!
Re: [Emc-users] [Emc-developers] LinuxCNC driver support in upcomingLinuxCNC version
Hi, I'm using motenc, so it would be nice if it can get supported. I'm a bit lost with the thousand of threads related to new developments, as I don't have too much spare time ultimately, but if it can be run on top ubuntu 10.04, I think I will be able to give it a try. Where can I get more specific instructions about the trials I should make (Xenomai user, RT-PREEMPT,...), and about how to proceed (which repo -precise git instruction can be valuable here- and how to get the required kernels)?. By the way I'm really impressed with this all new HAL thing!!!. Also impressed with technical EXCELLENCE of the guys working in this project!!!. Many thanks to all for all this absolutely great work!!!. Javier On Fri, Dec 28, 2012 at 10:20 PM, Michael Haberler mai...@mah.priv.at wrote: Work on newer realtime operating system support for LinuxCNC now has reached a stage where early testers are trying it out and things look promising (this is not yet packaged however). So far, the Mesanet cards, and most devices on a parallel port should work. However, there are some drivers whose status is unclear - whether they work, and are still in use. I would appreciate feedback if anybody is interested in support for one of the following drivers, and can actually test whether this works: hal_gm hal_motenc hal_vti opto_ac5 pci_8255 thanks in advance, - Michael -- Master HTML5, CSS3, ASP.NET, MVC, AJAX, Knockout.js, Web API and much more. Get web development skills now with LearnDevNow - 350+ hours of step-by-step video tutorials by Microsoft MVPs and experts. SALE $99.99 this month only -- learn more at: http://p.sf.net/sfu/learnmore_122812 ___ Emc-developers mailing list emc-develop...@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-developers -- Master HTML5, CSS3, ASP.NET, MVC, AJAX, Knockout.js, Web API and much more. Get web development skills now with LearnDevNow - 350+ hours of step-by-step video tutorials by Microsoft MVPs and experts. SALE $99.99 this month only -- learn more at: http://p.sf.net/sfu/learnmore_122812 ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users -- Master Visual Studio, SharePoint, SQL, ASP.NET, C# 2012, HTML5, CSS, MVC, Windows 8 Apps, JavaScript and much more. Keep your skills current with LearnDevNow - 3,200 step-by-step video tutorials by Microsoft MVPs and experts. SALE $99.99 this month only -- learn more at: http://p.sf.net/sfu/learnmore_122912 ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] How to install custom kinematics module in sim-onlyLinuxCNC
Viesturs, Its a long time since I work in my kinematics, but from what I remmeber I didn't need to do anything special to work on simulation mode. So I think what you propose is the correct way. Good luck, Javier On Wed, Nov 21, 2012 at 10:31 PM, Viesturs Lācis viesturs.la...@gmail.comwrote: Hello! I have Ubuntu 12.04 on my laptop and I have LinuxCNC 2.5.1-33-g03be66a sim-only package installed. What I am not sure about is - how am I supposed to install my kinematics module in this case? Is it the same way as usually - install linuxcnc-dev package, get source from git and then sudo comp --install whateverkins.c? I need it just so that I can use my laptop wherever I am to work on a kinematics that I am asked to develop. I have pretty basic vismach model for visualization of the concept. -- Viesturs If you can't fix it, you don't own it. http://www.ifixit.com/Manifesto -- Monitor your physical, virtual and cloud infrastructure from a single web console. Get in-depth insight into apps, servers, databases, vmware, SAP, cloud infrastructure, etc. Download 30-day Free Trial. Pricing starts from $795 for 25 servers or applications! http://p.sf.net/sfu/zoho_dev2dev_nov ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users -- Monitor your physical, virtual and cloud infrastructure from a single web console. Get in-depth insight into apps, servers, databases, vmware, SAP, cloud infrastructure, etc. Download 30-day Free Trial. Pricing starts from $795 for 25 servers or applications! http://p.sf.net/sfu/zoho_dev2dev_nov ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Invisible position sensing [Was: A new real-time Linuxscheduler released]
On Fri, Nov 2, 2012 at 6:02 AM, Erik Christiansen dva...@internode.on.netwrote: On 01.11.12 18:40, Peter Blodow wrote: How is the position of the balls rsp. the pendulum detected? Peter My guess is that the beam pivot has a servo motor and quadrature encoder. If the ball is off-center, then the beam pivots, unless sufficient restoring torque from the motor is applied. The amount of torque (current) required at any instant would then be a measure of ball position, if the beam is not accelerating, I figure. For that system in particular a linearized model is feasible and very light computationally, then, as you can obtain acceleration from the encoder, then you can have a model based position feedback. I would choose a Kalman filter approach, to cope with the noise in acceleration, and maybe simultaneous identification of the relevant inertia and friction parameters. You can as well use a nonlinear model (then extended Kalman filtering) for extra precision. Javier If the pendulum is constrained to one axis of rotation, then one encoder on the pivot is all that is needed there as well. Erik -- In the bathtub of history the truth is harder to hold than the soap, and much more difficult to find. - Terry Pratchett -- LogMeIn Central: Instant, anywhere, Remote PC access and management. Stay in control, update software, and manage PCs from one command center Diagnose problems and improve visibility into emerging IT issues Automate, monitor and manage. Do more in less time with Central http://p.sf.net/sfu/logmein12331_d2d ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users -- LogMeIn Central: Instant, anywhere, Remote PC access and management. Stay in control, update software, and manage PCs from one command center Diagnose problems and improve visibility into emerging IT issues Automate, monitor and manage. Do more in less time with Central http://p.sf.net/sfu/logmein12331_d2d ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Intel DN2800MT - possible new LinuxCNC star?
On Tue, May 22, 2012 at 11:50 PM, Yishin Li y...@araisrobo.com wrote: On Wed, May 23, 2012 at 11:30 AM, Greg Bernard yankeelena2...@yahoo.com wrote: Yishin- Do you actually have the Beaglebone running LinuxCNC? I know Jon Elson has been waiting for a very long time for someone to write an RTAI kernel for that platform. Greg, Yes, we have LinuxCNC running with UbuntuLinux 12.04 armhf (hard-floating) on BeagleBone. The floating point performance is good for trajectory planning with 0.65ms period. As we moved the realtime time master from host into FPGA, we no longer need RTAI. What do you mean with this: that all the HAL RT modules that your application needs are running now in the FPGA?. Can you elaborate a litle about what parts are running in the beagle and what in the FPGA. I presume you have a non RT HAL module to interface the 7i43 through the USB port, haven't you?. I didn't know such kind things could be done using FPGA, although I think they must be really difficult and laborious. I'm really impressed. Javier PD: Isn't this an answer to the survival of LinuxCNC without a Linux RT (RTAI Xenomai or other alternative), and even to the latency killer hardware?. A posssible path to its extension to other OS? -- Live Security Virtual Conference Exclusive live event will cover all the ways today's security and threat landscape has changed and how IT managers can respond. Discussions will include endpoint security, mobile security and the latest in malware threats. http://www.accelacomm.com/jaw/sfrnl04242012/114/50122263/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
[Emc-users] OSADL News, related to recent sicusions on latency
I think that this can be interesting to LinuxCNC comunity.How to optimize Linux real-time capabilities? https://www.osadl.org/Single-View.111+M52601a5fd69.0.html OSADL celebrates one-year anniversary of the QA Farm https://www.osadl.org/Single-View.111+M59e3481cdfe.0.html I beg your pardon if this has already posted, Javier -- This SF email is sponsosred by: Try Windows Azure free for 90 days Click Here http://p.sf.net/sfu/sfd2d-msazure ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] OT: Concrete Lathe
I've seen cement as the pilars of a big Tricept type parallel machine. They use special type of concret with epoxi or similar aditives. I've heard of similar termal expansion coefficientes for steel an concret, and of the good vibration absorbing properties of concret. I think that the aditives, can help both on the tensile strength and on the vibration disipation part too. Just my two cents, Javier On Mon, Nov 14, 2011 at 5:20 AM, Dave e...@dc9.tzo.com wrote: Concrete is fine for compression loads. You can mix 5000 psi concrete pretty easily. However it has very poor tensile strength. They say 10-15% of the compressive strength. Fiberglass has a much higher tensile strength. That is why concrete has to be pre-stressed to be used for tensile applications. If it was a great material for machine frames, the machine makers would be using it. My lathe has a bunch of it in the base- the block is about 3feet wide - 12 feet long and 14-16 tall. But I think they put it in the base to brace the structural steel frame and take the ring out of the frame so it would be difficult for it to resonate. Dave On 11/13/2011 10:50 PM, Jack Coats wrote: It was Lucien I. Yoeman that patented this back during WW1, not WW2, for shell turning. http://xa.yimg.com/kq/groups/13335163/1942903983/name/MM++lathe+How+to+Build21a.pdf has a picture of the lathe and team that built it. I found his patents on patents.google.com some time ago. Good but not overly enlightening reading. No reason not to use this technique to build just about any machinery that could use a very stable base (lathe, mill, laser cutter, plasma cutter, etc) The cement is great because it doesn't take rocket science to get a stable base that hold together. A friend sells chemical additives for putting in concrete to change it's properties but for most projects a simple 1,2,3 mix or sacked concrete mix works well. To make the concrete stronger, use less water, rather than more. My suggestion is to build one (or more) as an experiment. Most of what is needed doesn't need steel reinforcing, but putting it is doesn't hurt. A local manufacturer makes steps for fire stairs, he puts in bolts and leaves the threads exposed about an inch. He uses stainless steel to ensure they don't rust. So if you want to cast in some attachments for long term use, stainless is a good option. If it is just for use for a 'few years' galvanized or cement covered is OK. ... Just my thoughts. ... Jack Whatever you do, work at it with all your heart... Colossians 3:23 On Sun, Nov 13, 2011 at 8:46 PM, Chris Reynolds c_reynolds2...@yahoo.com wrote: I belong to that group, there is some interesting information there. I was under the impression that during WWII using concrete in casting large machine parts was used because of lack of raw materials, and fairly common. I've always thought it would be fun to experiment with this technique, not only for a lathe but for a mill as well. Chris There is a yahoo group re-developing making a lathe from concrete. They are baseing their stuff on a guy that made lathes for turning large projectiles for the Navy. He had a couple of patents. Basically he had a jig to hold his metal pieces that define the critical dimensions. He poured the lathe, waited a couple of days, un-did the forms. installed the jig and some metal pieces, then poured a low temp metal alloy he developed (formula is lost) that didn't shrink or expand when cooled to hold the metal pieces in place in the concrete. Anyway, email me directly if you want to get the link to the group (I just don't have it at hand or I would put it here). ... Jack -- RSA(R) Conference 2012 Save $700 by Nov 18 Register now http://p.sf.net/sfu/rsa-sfdev2dev1 ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users -- RSA(R) Conference 2012 Save $700 by Nov 18 Register now http://p.sf.net/sfu/rsa-sfdev2dev1 ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users -- RSA(R) Conference 2012 Save $700 by Nov 18 Register now http://p.sf.net/sfu/rsa-sfdev2dev1 ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users -- RSA(R) Conference 2012 Save $700 by Nov 18 Register now http://p.sf.net/sfu/rsa-sfdev2dev1 ___ Emc-users mailing list
Re: [Emc-users] Can gladevcp apps be run without AXIS, relying only on HAL ?
Michael, Thanks very much. By starting from just a HAL session, I mean to do something similar to the tutorial on HAL (in the HAL manual), in which you use halrun to load different components and to connect them together. To be able to launch a gladevcp application, so that it can be used as a interface application to arbitrary hardware or RT componentes, would be great!. I understand form your emails that this is indeed possible :) . IMO, this amount as to have a kind of simulink or labview, really easy to use but focused on RT applications running on linux compatible hardware, and ready to work with different RT systems: Hard RT - RTAI, LinuxRT Almost Hard RT - Preempt-RT Soft RT - Threads I'm beginning to think that HAL, could be a package on its own, and maybe galdevcp, and any other part you to develop RT control / simulation,... to be deployed in general terms not necessarily related to machining machining applications. My thesis is that HAL high quality layer over a different RT paradigms that makes really easy to any body to work with such a kind of systems. Form my working directly with RTAI or Threads is much more complex, and I don't feel at least at the moment that I'm loosing anything important (including performance) when I'm working with HAL. I think that this can be really useful for a lot of people, not only people wiling to do machining, and that this can attract more people to work these projects, and may be to make easier the maintenance of the whole EMC ecosystem in the long term. What is your opinion?. Thank you, Javier On Tue, Jul 19, 2011 at 4:42 PM, Michael Haberler mai...@mah.priv.at wrote: after playing with it: yes you can no, motion is not part of it (moving motors and stuff) because that's a realtime component which assumes NML communication -m Am 19.07.2011 um 16:34 schrieb Michael Haberler: Am 19.07.2011 um 11:31 schrieb Javier Ros: Hi, I wonder if gladevcp application can be started up just from a HAL session, as an standalone application not depending on AXIS or other interface, but just on a developer's choice of hal components?. Javier - I'm a bit unclear what you mean by starting from just a HAL session - do you mean without interpreter and task executor? If this is what you're referring to: I would guess that would be a HAL-only application without any of NML-based components like UI, task, interpreter, iocontrol without testing it I would think that would amount to: - modifying the emc shell script to not start milltask, the UI, and iocontrol - modify it to start your gladevcp app I would think it is possible to run just HAL, yes - I'd need to check if there are any references in the HAL widgets to the emc and gcode Python modules which assume task and interpreter -Michael -- Magic Quadrant for Content-Aware Data Loss Prevention Research study explores the data loss prevention market. Includes in-depth analysis on the changes within the DLP market, and the criteria used to evaluate the strengths and weaknesses of these DLP solutions. http://www.accelacomm.com/jaw/sfnl/114/51385063/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users -- Magic Quadrant for Content-Aware Data Loss Prevention Research study explores the data loss prevention market. Includes in-depth analysis on the changes within the DLP market, and the criteria used to evaluate the strengths and weaknesses of these DLP solutions. http://www.accelacomm.com/jaw/sfnl/114/51385063/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users -- 5 Ways to Improve Secure Unified Communications Unified Communications promises greater efficiencies for business. UC can improve internal communications as well as offer faster, more efficient ways to interact with customers and streamline customer service. Learn more! http://www.accelacomm.com/jaw/sfnl/114/51426253/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
[Emc-users] Can gladevcp apps be run without AXIS, relying only on HAL ?
Hi, I wonder if gladevcp application can be started up just from a HAL session, as an standalone application not depending on AXIS or other interface, but just on a developer's choice of hal components?. Thank you, Javier -- Magic Quadrant for Content-Aware Data Loss Prevention Research study explores the data loss prevention market. Includes in-depth analysis on the changes within the DLP market, and the criteria used to evaluate the strengths and weaknesses of these DLP solutions. http://www.accelacomm.com/jaw/sfnl/114/51385063/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Tool length offset for non-trivial kins
Hi, I've been following the thread, I think that was the piece that I was missing in my kinematics. Thank you. In the past I had problems (BANGS) with non-matching initial conditions for Cartesian an joint coordinates, those problems got solved for me when I settled up my kinematics, so that when the hexapod joints toke the value 0 all the Cartesian coordinates (XYZABC) toke as well the value 0 as well. I wonder if any special care should be taken when the tool_length is changed with GCODE or if a nonzero value is automatically loaded on start-up. Thank you Javier PD: A possible minor bug in 5axiskins Shouldn't haldata = hal_malloc(sizeof(struct haldata)); in rtapi_app_main have a corresponding free in rtapi_app_exit ??? -- AppSumo Presents a FREE Video for the SourceForge Community by Eric Ries, the creator of the Lean Startup Methodology on Lean Startup Secrets Revealed. This video shows you how to validate your ideas, optimize your ideas and identify your business strategy. http://p.sf.net/sfu/appsumosfdev2dev ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] A question
You will need a hal specific driver. You can have a look to some of the drivers, in order to understand the programming. I'm not a expert but I think hal_motenc.c and corresponding motenc.h files for motenc-100 cards, emc2-dev/src/hal/drivers/hal_motenc.c emc2-dev/src/hal/drivers/motenc.h would contain almost anything you need, you can start modifying those files to suit your needs. It look pretty straightforward for somebody with knowledge on digital electronics. If you wont to make it work with linux in general, appart from hal, you'll need to develop a specific driver, a starting point can be the COMEDI project. Again I'm not an expert. Good look, Javier On Sat, Jul 16, 2011 at 6:39 AM, Farzin Kamangar farzin.kaman...@gmail.comwrote: Dear Sirs, I want to make a PCI card for EMC. I have experience of making ISA and PCI I/O board, but I have never done it for Linux. Can you give me some information how can I go ahead for EMC? Do I need to write a driver for that? Where is the interface data of EMC and PCI hardware? Best regards, Farzin -- AppSumo Presents a FREE Video for the SourceForge Community by Eric Ries, the creator of the Lean Startup Methodology on Lean Startup Secrets Revealed. This video shows you how to validate your ideas, optimize your ideas and identify your business strategy. http://p.sf.net/sfu/appsumosfdev2dev ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users -- AppSumo Presents a FREE Video for the SourceForge Community by Eric Ries, the creator of the Lean Startup Methodology on Lean Startup Secrets Revealed. This video shows you how to validate your ideas, optimize your ideas and identify your business strategy. http://p.sf.net/sfu/appsumosfdev2dev ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] How to home all?
I have HOME_SEQUENCE= 0 for each axis in my ini. Then all of them home at he same time. I think the number indicates in which order is each joint HOMED. Just in case, I can send my ini. Good luck, Javier On Tue, May 31, 2011 at 6:14 PM, Viesturs Lācis viesturs.la...@gmail.comwrote: Hello, gentlemen! Can anyone tell me, what is that small and trivial detail that I am missing to have a button Home All instead of Home Axis in Axis GUI? I have 4 joints with homing switches and they all are homing correctly, when homed each separately. And then there is one joint, which is not supposed to have a homing switch - it is a rotary head. It does not make sense homing it before part has been placed in it - just like with lathe's spindle, part can be oriented in any direction. What should I do with INI settings for that last joint so that in Axis GUI that button would tell Home All ? Now I have specified it as follows: WRAPPED_ROTARY = 1H HOME = 0 HOME_OFFSET = 0 HOME_SEARCH_VEL = 0 HOME_LATCH_VEL = 0 HOME_USE_INDEX = NO HOME_IGNORE_LIMITS = NO Viesturs -- Simplify data backup and recovery for your virtual environment with vRanger. Installation's a snap, and flexible recovery options mean your data is safe, secure and there when you need it. Data protection magic? Nope - It's vRanger. Get your free trial download today. http://p.sf.net/sfu/quest-sfdev2dev ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users -- Simplify data backup and recovery for your virtual environment with vRanger. Installation's a snap, and flexible recovery options mean your data is safe, secure and there when you need it. Data protection magic? Nope - It's vRanger. Get your free trial download today. http://p.sf.net/sfu/quest-sfdev2dev ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Euler's Zyz angles in kinematics
Viesturs, Just in case, and without trying to dig deep into the problem: Euler angles can be singular at certain positions. That is they are unable to give a rotation or base change matrix when at such positions. If you experience estrange problems only when the angles are close to 0 or to 90 degrees it is possible that our problem is related to this. Also -just in case- from my, almost forgotten, course on robotics: serial manipulator use to have trivial direct models; but inverse kinematics can be much less trivial (at least in explicit form), and frequently can have more than one solution or none at all (for example if you are out of the work space). This can be problematic too. Hope this helps, Javier On Sun, May 22, 2011 at 10:19 PM, Viesturs Lācis viesturs.la...@gmail.comwrote: 2011/5/22 Viesturs Lācis viesturs.la...@gmail.com: Now I will try to get it little more sophisticated. I have spent 6 or 7 months trying to get kinematics for a puma-style robot arm that moves on a linear joint. Here is what I tried so far and what are the results: 1) genserkins does not work properly - alligning coordinate frame of the arm with base frame is impossible. Z is correct, but X and Y are turned by 90 degrees - X points , where Y should be. All the coordinate frames of joints seem to be alligned properly - running the sample g-code produced a nice drawing of EMC 2.4/ AXIS I have been drawing sketches on paper over and over again to find out, where do I have a mistake and what values _should_ DH parameters have to describe the arm and all the time get the same existing result. 2) adjusting pumakins also failed - substituting value of original joint[0] with 90 degrees in forward kins and expanding and adjusting world-tran = worldPose.tran to be world-tran.x = joint[0]; world-tran.y = worldPose.tran.y; world-tran.z = worldPose.tran.z; and in inverse kins joint[0] = world-tran.x also does not work But I do not see a way to understand those definitions of elements of rotation matrix; 3) writing kinematics from scratch also failed, I tried the simple way with use of trigonometric functions, where every promising solution, which shows correct calculations in both directions, somehow ends up with finding a situation, where they fail without me being able to understand why; 4) the smart way with Euler's angles seems to be bad concept as a whole: the idea was like this: a) technically those should be Xyx angles, but Zyz should do the same, if there are adjustments after they are converted to rpy: rpy.r = world-c, not world-a, rpy.p = world-b and rpy.y = A, not C rpy.y = world-a, not world-c b) Euler's angles were assigned like this: zyz.z is a slope of lower arm = joint[1] + joint[2] zyz.y is angle of joint[3] zyz.zp is angle of joint[4] c) in inverse kins: joint[3] = zyz.y joint[4] = zyz.zp zyz.z is not used It turned out that it does not work, arm just flips over, when reaching outwards. The tilt angle of tool also seem not to be maintained as the slope of lower arm changes, so something is missing there. I have a feeling that it might be connected with the fact that zyz.z value is not used in inverse kins, but I do not see a way to use it. At least not in this concept, where slope of the lower arm cannot be adjusted. I thought that some kind of recalculation might work, where initial Zyz values after conversion are stored and then recalculated for a given zyz.z value (slope of the lower arm) to match the same tool orientation. I have 3 questions: 1) How can I find out, if EMC just hates me? 2) Is there any more options I haven't tried to define kinematics for a puma arm that moves along linear joint? 3) Are there any suggestions, where to look for solution in any of above-mentioned approaches? Viesturs -- What Every C/C++ and Fortran developer Should Know! Read this article and learn how Intel has extended the reach of its next-generation tools to help Windows* and Linux* C/C++ and Fortran developers boost performance applications - including clusters. http://p.sf.net/sfu/intel-dev2devmay ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users -- What Every C/C++ and Fortran developer Should Know! Read this article and learn how Intel has extended the reach of its next-generation tools to help Windows* and Linux* C/C++ and Fortran developers boost performance applications - including clusters. http://p.sf.net/sfu/intel-dev2devmay ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] [OT] CAM Simulation?
Hi, I'm right now working on the introduction of the dynamics / kinematics of arbitrary virtual machines on EMC, actually in HAL. I have already something working pretty well but I would like to have something general and then check with the developers if it fits EMC or HAL somewhere. I would provide a MultiBody C++ library that makes the generation of the dynamics / kinematics more or less straight forward. As everything is virtual, it works not only in Real-Time but also as a Simulator. To make the simulation more realistic It would be wonderful to be able to introduce the cutting forces. I think that it would be great if opencamlib could be interfaced to HAL. That would make EMC a great teaching / research / design realistic platform. It would also allow EMC developers to check EMC behavior with different machines. Best regards, Javier On Wed, May 4, 2011 at 3:21 PM, Florian Rist fr...@fs.tum.de wrote: Dear Anders, thanks for explanations. (a) interpreter ... In my special case this is not a problem. I'm working on a tool path generation algorithm, the output will be a dense list of tool positions that I could directly use for the simulation. So I don't need g-code interpretation, actually I need the other way round. (b) stock model ... Using octree representation of a distance field seams to be a straightforward approach. Storing the actual intersection data sounds like a idea cool, though, but to complex for me. (c) surface extraction ... (d) rendering interface ... Phu... I guess I have to learn some OpenGL. And I wanted to look at OpenCL for tool path generation, single precision floating points would will most probably be sufficient for tool path generation, I guess. Did you think about using the GPU to do the calculations for the simulation? As usual I have a lot of pdf papers about these things if anyone wants to read! :) I do. :-) Thanks a lot. I am a bit busy now in May but if there is interest, esp. wrt. emc2 interpreter and opengl/rendering on emc2-distro or even AXIS, then it would be great to get something going in June or so. I'm working on a PhD related to tool path generation. So maybe some of this work might also be of interest to the emc2 community. For now I'll try to set up a build environment for your libraries. I'm on Windows 7 (64 bit) most of the time. Would you suggest to switch to Ubuntu? I would probably be easier to set-up reverting to compile your libraries, right? See you Flo -- WhatsUp Gold - Download Free Network Management Software The most intuitive, comprehensive, and cost-effective network management toolset available today. Delivers lowest initial acquisition cost and overall TCO of any competing solution. http://p.sf.net/sfu/whatsupgold-sd ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users -- WhatsUp Gold - Download Free Network Management Software The most intuitive, comprehensive, and cost-effective network management toolset available today. Delivers lowest initial acquisition cost and overall TCO of any competing solution. http://p.sf.net/sfu/whatsupgold-sd ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
[Emc-users] HAL: input-output pin wired to a only input or only output pin
Hello, I want to connect the output of an AND gate, to the INDEX-ENABLE io pin of my card. I want too, to connect the INDEX-ENABLE io pin of AXIS to one of the inputs of the AND gate. Will this give an error or is it possible?. Thanks, Javier PD: Rationale: I want to reset two encoder counters using the index pulse of one of them. The electrical part is easy. At the HAL configuration level, I plan to connect the AXIS-INDEX-ENABLE io pin to the first CARD-INDEX-ENABLE io pin and to the second CARD-INDEX-ENABLE io pin, through an AND gate that has a ONE as the other input. The underlying reason is that I want to compare the errors between both sensors. -- WhatsUp Gold - Download Free Network Management Software The most intuitive, comprehensive, and cost-effective network management toolset available today. Delivers lowest initial acquisition cost and overall TCO of any competing solution. http://p.sf.net/sfu/whatsupgold-sd ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Hexapod project
Andrew, I have to say that I'm impressed. It seems to work nicely, and as I remember you started to build it few months ago. So big congratulations!!!. I would be interested to read on the particular elements used to build the system. Joint implementation, servo, stepper, encoders?. Also about problems in the working, like vibrations or whatever. Which kind of research are you planning to do with it?. Amazing, Javier On Tue, Apr 12, 2011 at 9:37 PM, Andrew parallel.kinemat...@gmail.comwrote: Hi, I've recently built a hexapod (of course, controlled by EMC2), here's a little video. http://www.youtube.com/watch?v=G_UmhUjZhNo The machine is not completed yet, it needs actuators tuning, calibration etc. Thanks to EMC2 developers for great CNC software and to all of you for valuable advices. Best regards, Andrew BTW, some bugs found in tkemc (at least 2.4.6): - increments not working, only continuous jogging; - folders not opening in File-Open menu. -- Forrester Wave Report - Recovery time is now measured in hours and minutes not days. Key insights are discussed in the 2010 Forrester Wave Report as part of an in-depth evaluation of disaster recovery service providers. Forrester found the best-in-class provider in terms of services and vision. Read this report now! http://p.sf.net/sfu/ibm-webcastpromo ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users -- Forrester Wave Report - Recovery time is now measured in hours and minutes not days. Key insights are discussed in the 2010 Forrester Wave Report as part of an in-depth evaluation of disaster recovery service providers. Forrester found the best-in-class provider in terms of services and vision. Read this report now! http://p.sf.net/sfu/ibm-webcastpromo ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] HAL Documentation: canonical encoder, linksp, linkps, newsig
John, I've been checking the integrators manual, and yes Encoder and Encoder_Sim HAL components are described, but references to the Canonical Encoder interface are done. So I understand, they are different things: a)Encoder at section 8.6 of the integrator manual is more like the description of a particular software implementation already present in HAL. b)Canonical encoder (or canonical *) is more like what should be the elements that an EMC developer should expect/consider to exist in any EMC compatible encoder (*) interface, should it be a HAL software encoder (*) or the HAL interface to the real encoder (*) present in a for example MOTENC-100 card. Also, references to canonical digital input and output are done in the Integrator's manual, but the document at which they should be found (HAL user manual), is not referenced except in one place, in which the canonical encoder interface is referred to be in the HAL user manual. --literally-- encoder.chan.reset (bit, In) – See the canonical encoder interface section of the HAL manual. --end literally-- I don't know if the canonical concept is a fundamental one to the understanding of EMC, I think it can, at least for the elements that one should expect to found in standard retrofit projects. If that is intended encoder looks like such standard element and then should be described along other canonical interfaces. If the canonical concept is not that interesting I think that references to the canonical interface should be removed, at least those to elements that do not have a canonical interface definition. Thanks, Javier On Sat, Jan 8, 2011 at 1:24 PM, John Thornton bjt...@gmail.com wrote: The encoder component was removed from the HAL manual because it was incorrect and is in the Integrators manual. John Jon Elson wrote: Javier Ros wrote: Hello, I think that the Chapter 4 Canonical Device Interfaces lacks a section about the canonical encoder, as I've seen it referenced elsewhere. Am I right? Yes, something happened over a year ago, and at least a whole page disappeared from the document. You can go back to a 2009, or possibly 2008 version and there is much more info there. Hopefully, John Thornton or somebody can go and put this back. Also, I've not seen any reference to linksp linkps and newsig that are used in some .hal files of example configurations of current version. newsig, linksp and the inverse are obsolete, but still supported. In the original HAL, you had to define the signal on one line, and then link each pin to the signal on a separate line. Now, the net command is preferred, where the definition and pins can all be on one line. I suppose they are obsolete, although supported, and that their functionality is intended to be replaced with net. Yes, exactly. Also about = or= in net commands: I understand from the examples that they are optional, but Yes, they are optional, and have no meaning except for human clarification. Jon -- Gaining the trust of online customers is vital for the success of any company that requires sensitive data to be transmitted over the Web. Learn how to best implement a security strategy that keeps consumers' information secure and instills the confidence they need to proceed with transactions. http://p.sf.net/sfu/oracle-sfdevnl ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users -- Gaining the trust of online customers is vital for the success of any company that requires sensitive data to be transmitted over the Web. Learn how to best implement a security strategy that keeps consumers' information secure and instills the confidence they need to proceed with transactions. http://p.sf.net/sfu/oracle-sfdevnl ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users -- Gaining the trust of online customers is vital for the success of any company that requires sensitive data to be transmitted over the Web. Learn how to best implement a security strategy that keeps consumers' information secure and instills the confidence they need to proceed with transactions. http://p.sf.net/sfu/oracle-sfdevnl ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
[Emc-users] Hardware in the loop
Hi!, I'm thinking about implementing a Real-Time hardware in the loop simulation of our hexaglide (http://www.imac.unavarra.es/~cnc). The idea is to implement a HAL module that does a direct dynamical simulation of the robot, that gives as output the system state, in terms of the outputs given by the PID. The module is intended to allow tuning of the simulated machine, new control algorithms and new homing strategies, using the real Hardware (PC+EMC). So the setup will be as close to the reality as possible and then a great number of errors can be avoided. To make this element as interesting as possible, I want also to implement not only the dynamics, but also the encoder interfaces and switch limit interfaces, so that as close to real as possible situations can be dealt with. The approach I intend to follow is to start from the MOTENC-100 HAL interface module as it contains a pretty general interface, and remove from it all interfaces to the real hardware while keeping the rest of the functionality. Then I'll substitute the feedback from the real hardware with calculated one, for the inputs I'm using in my real setup. I'm pretty new to this so any suggestions are welcome, particularly those that can same time to me. Achieving Real Time performance for a complex machine can be difficult, so if I can use the whole setup without running it in Real-Time it wold be still acceptable, at least in a debugging phase. So I'm curious about simulation mode (--enable-simulator). I see that EMC can be compiled so that it can be run as a simulator in Non-Real-Time. Can then standard HAL modules be used?. In other terms: if I develop my project for Real-Time, can I expect to be able to run it in Non-Real-Time simulated EMC without any changes or caveats?. Should I have to consider any special things for this?. Thanks, Javier -- Gaining the trust of online customers is vital for the success of any company that requires sensitive data to be transmitted over the Web. Learn how to best implement a security strategy that keeps consumers' information secure and instills the confidence they need to proceed with transactions. http://p.sf.net/sfu/oracle-sfdevnl ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
[Emc-users] HAL Documentation: canonical encoder, linksp, linkps, newsig
Hello, I think that the Chapter 4 Canonical Device Interfaces lacks a section about the canonical encoder, as I've seen it referenced elsewhere. Am I right? Also, I've not seen any reference to linksp linkps and newsig that are used in some .hal files of example configurations of current version. I suppose they are obsolete, although supported, and that their functionality is intended to be replaced with net. Am I right? Also about = or = in net commands: I understand from the examples that they are optional, but I think that this is not reflected in the manual. Thank you, Javier -- Gaining the trust of online customers is vital for the success of any company that requires sensitive data to be transmitted over the Web. Learn how to best implement a security strategy that keeps consumers' information secure and instills the confidence they need to proceed with transactions. http://p.sf.net/sfu/oracle-sfdevnl ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] HOME Sensors
I'm impressed with your answer. I recognize that I didn't have idea about cable pairing in order to improve noise immunity. I will take care of this, and put a section on the web to comment on this. I wonder if you have also a Eurotherm 631 driver, because you seem to be very familiar with our setup. I've reviewed the information regarding resolvers, and yes, you are right again. The motor has a resolver and the signal it produces is translated to quadrature encoder signals by the driver. I tried to figure out what kind of resolver it uses, but I found only that it is a 2 pole Eurotherm transmitter resolver, no references in Eurotherm web page. So I don't know if the signal is transmitted analogically or digitally from the resolver to the drive (just curiosity). I have configured the quadrature signal in the drive to be 4096 steps per revolution (the maximum possible at the drive). So I don't know how confident can I be about the accuracy of the quadrature steps given by the drive. In a quadrature encoder of the type based on printed disk, with the same amount of steps per rev, I think you can be confident about the accuracy being +-360/4096 degrees, provided that the disk has been printed OK, it is well attached to the shaft and that no meaningful vibrations affect the sensors (I think). But I'm not sure the induced currents in a 2 pole resolver can be that accurate when related to the angle. I mean you can generate 4096 per rev quadrature steps based on an imprecise periodical and continuous analog signal, if you have a decent 12 bit A/D converter, but this does not necessarily implies that the quadrature signal generated is accurate at all. The only advantage I see to a resolver against a quadrature encoder, is the former being able to give a continuous signal, so a good A/D (say 16 bits) will allow you to implement a more precise PID when the motor is at zero velocity. But this advantage will only noticed if we can read directly the analog signal given by the resolver, something that I judge difficult to do in our setup. I'm thinking (in a future arrangement) about placing linear encoders along the guide, avoiding the possible imprecise measurements given by the resolver, and the imprecision associated to the backlash between rotary and linear motor. Feel free to comment on any of the above. I'm just speaking (loud) about my lack of knowledge regarding the fine details needed to tune or design a good machine for CNC. Thanks very much indeed Javier I agree that the pins on the x40 connector are connected to the corresponding pins on the motenc-100 terminal board. You can, however, improve the noise immunity by rearranging the wires on *both* ends of the cable. http://www.imac.unavarra.es/parallel/images/argazkiak/DSCN1697.JPG In this image, B+ and B- are connected to the blue/blue-white pair, so the B channel signal has added immunity from noise and crosstalk. On the other hand, the A channel and X channel signals are each split between two pairs, so neither receives the benefit of running over a twisted pair. If you can remake the RJ-45 end of the cable, you can put each channel on its own pair and get additional noise immunity. That was what I was trying to say earlier. There's a writeup on balanced signals and twisted pair here: http://www.duxcw.com/digest/Howto/network/cable/cable4.htm Regards, Jim - Using Tomcat but need to do more? Need to support web services, security? Get stuff done quickly with pre-integrated technology to make your job easier. Download IBM WebSphere Application Server v.1.0.1 based on Apache Geronimo http://sel.as-us.falkag.net/sel?cmd=lnkkid=120709bid=263057dat=121642 ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users - Using Tomcat but need to do more? Need to support web services, security? Get stuff done quickly with pre-integrated technology to make your job easier. Download IBM WebSphere Application Server v.1.0.1 based on Apache Geronimo http://sel.as-us.falkag.net/sel?cmd=lnkkid=120709bid=263057dat=121642 ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] HOME Sensors
On Mon, 2007-02-05 at 12:28 -0500, Jim Register wrote: On Mon, 2007-02-05 at 14:24 +0100, Javier Ros Ganuza wrote: On Mon, 2007-02-05 at 07:53 -0500, Jim Register wrote: On Mon, 2007-02-05 at 11:11 +0100, Javier Ros Ganuza wrote: Returning to my previous thread about HOMING. I did read the information pointed out here (section 5.4 of the manual), and there is some thing I can understand: What is index pulse?. I have brushless servos with quadrature encoders. Is the index pulse signal the one from the quadrature encoder, or is it a different signal (the one coming for hal sensors, something entirely different, or something that can be arbitrarily assigned within EMC, or..)???. Javier, The index pulse would come from the simulated encoder on the 631 servo drive, on the X40 pins labeled Z and /Z. In our case, the Z or /Z are not simulated (I think :) ), the brushless have a quadrature encoder, and we are driving all to the motenc-100 terminal board. According to the 631 docs, your motor actually has a resolver instead of an encoder; the 631 driver simulates the encoder signals. That's just a minor detail at the moment, but it may be important when you are troubleshooting. It sounds like a very nice arrangement. Sorry if it sounds too trivial, but I'm lost, what is the diferencie between encoder and resolver. Well, I know what is a encoder, but I was thinking that a resolver was in fact a encoder. So what is a resolver (a potentiometer?)? http://imac/parallel/images/argazkiak/DSCN1697.JPG shows the conection of the RJ45 standard ethernet cable to the board (left-up) Sorry for the mistake, the server was in my internal network. The fully qualified name is: http://www.imac.unavarra.es/parallel/images/argazkiak/DSCN1697.JPG Oh, the X40 connector does not have the pairs on the same pins as an RJ45 Ethernet connection. If you used a stock Ethernet cable, GND and /Z will be on one pair, Z and /A on another, and A and 5VI on a third. Only B and /B will be on a pair. You need to wire the RJ45 end so that each signal has its own pair, or the twisted pairs in the cable will actually work against you. We've linked the individual cables following the diferent colors of the cables that can be seen thought the plastic connector and the conection diagram provided for x40 in the 631 manual, the RJ45 cable has been open in the opposite end, and corresponding connections has been made following motenc-100 terminal board specifications. EMC wonderfully drives the assembly so I think we've made proper connections in this side. And in http://imac/parallel/images/argazkiak/DSCN1691.JPG you can see the Oposite end of the same RJ45 cable, conected to the X40 input. should be http://www.imac.unavarra.es/parallel/images/argazkiak/DSCN1691.JPG Unfortunately, those links take me to the Apple(tm) website, but I did find the images on your website. (The cabinet looks nice, by the way.) We have configured the 631 servo to output quadrature signals from X40. So if I got the idea: We can use index pulse, and the index pulse is taken from the Z and/or /Z signals that is being fed to the card. So activating index pulse in the HOMING configuration will work (in fact it works but we didn't known if index pulse was actually being used) using index pulse.??? Yes, the Motenc driver supports the index pulse in EMC2.1 So in general (just for curiosity), index pulse is always taken from Z and/or /Z signal from quadrature encoder??? Correct. It has been very clarifying for me. So, it can be said that: index pulse is a concept internally defined by EMC and depending on hardware the driver can implement this index pulse in different ways. It happens that with the motenc-100 driver, or with other divers using quadrature encoders, the index pulse is defined using available Z and/or /Z quadrature signals. Do you agree? Thanks a lot Javier Many thanks Javier Ros You are welcome. Jim - Using Tomcat but need to do more? Need to support web services, security? Get stuff done quickly with pre-integrated technology to make your job easier. Download IBM WebSphere Application Server v.1.0.1 based on Apache Geronimo http://sel.as-us.falkag.net/sel?cmd=lnkkid=120709bid=263057dat=121642 ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users - Using Tomcat but need to do more? Need to support web services, security? Get stuff done quickly with pre-integrated technology to make your job easier. Download IBM WebSphere Application Server v.1.0.1 based on Apache Geronimo http://sel.as-us.falkag.net/sel?cmd=lnkkid=120709bid
Re: [Emc-users] Spindle
Many thanks, for all your answers related to Spindle subject. I'm collecting the information in the anotaciones section in the project page (www.imac.unavarra.es/parallel) I expect to process it tomorrow, and start to draw the manipulator head drawings. Thanks again Javier On Mon, 2007-02-05 at 11:30 -0600, Jon Elson wrote: Javier Ros Ganuza wrote: Hello :) For our project of a parallel manipulator, we want to attach an spindle to the head. Googling for spindles I'm not being too successful I've found these http://www.kress-elektrik.de/es/products/browse_products.php?categorie=765 and some others but quite far from what we need. But I would like to put some thing more professional but with a geometry an concept similar to the one of the above link, a system not very big, because weight and space requirements in the parallel head. You could get a Precise spindle, sometimes known as a Rockwell/Precise. The oldest ones have a universal motor, later ones were air-cooled with 2-phase AC motors, I think the latest ones are water cooled. Jon - Using Tomcat but need to do more? Need to support web services, security? Get stuff done quickly with pre-integrated technology to make your job easier. Download IBM WebSphere Application Server v.1.0.1 based on Apache Geronimo http://sel.as-us.falkag.net/sel?cmd=lnkkid=120709bid=263057dat=121642 ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users - Using Tomcat but need to do more? Need to support web services, security? Get stuff done quickly with pre-integrated technology to make your job easier. Download IBM WebSphere Application Server v.1.0.1 based on Apache Geronimo http://sel.as-us.falkag.net/sel?cmd=lnkkid=120709bid=263057dat=121642 ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
[Emc-users] Spindle
Hello :) For our project of a parallel manipulator, we want to attach an spindle to the head. Googling for spindles I'm not being too successful I've found these http://www.kress-elektrik.de/es/products/browse_products.php?categorie=765 and some others but quite far from what we need. But I would like to put some thing more professional but with a geometry an concept similar to the one of the above link, a system not very big, because weight and space requirements in the parallel head. We intend to machine aluminum as our heavier goal. It would be nice to hear some experts from the list in this subject. I think European and American standards are different in this respect. We prefer European ones. Nevertheless any information is welcome. Thanks to all in advance Javier - Using Tomcat but need to do more? Need to support web services, security? Get stuff done quickly with pre-integrated technology to make your job easier. Download IBM WebSphere Application Server v.1.0.1 based on Apache Geronimo http://sel.as-us.falkag.net/sel?cmd=lnkkid=120709bid=263057dat=121642 ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] Spindle
Thank very much, those are precisely the kind of spindles I was looking for. Javier On Mon, 2007-02-05 at 11:54 +, Manfredi Leto wrote: Hi, my compliments for the project and the webpage, very nice. The Kress spindle can machine aluminium without any problem. Of course you should use the right mills. If you want something more advanced, you could try High Frequency spindles...but you will need a HF driver and the whole system of course will cost to you a lot more than a normal 240V AC Kress. You can see some HF spindles here: http://www.cnc-modellbau.de/shop/ or try the direct link if it works...: http://s84728158.einsundeinsshop.de/sess/utn;jsessionid=1545c71543301d8/shopdata/0005_HF-Spindeln+=26amp=3B+Umrichter/product_overview.shopscript Or here: http://www.ronchinimassimo.com/elettromandrini_hf.htm Or search on google and you will find others... Regards, Manfredi From: Javier Ros Ganuza [EMAIL PROTECTED] Reply-To: Enhanced Machine Controller (EMC) emc-users@lists.sourceforge.net To: Enhanced Machine Controller (EMC) emc-users@lists.sourceforge.net Subject: [Emc-users] Spindle Date: Mon, 05 Feb 2007 11:22:52 +0100 Hello :) For our project of a parallel manipulator, we want to attach an spindle to the head. Googling for spindles I'm not being too successful I've found these http://www.kress-elektrik.de/es/products/browse_products.php?categorie=765 and some others but quite far from what we need. But I would like to put some thing more professional but with a geometry an concept similar to the one of the above link, a system not very big, because weight and space requirements in the parallel head. We intend to machine aluminum as our heavier goal. It would be nice to hear some experts from the list in this subject. I think European and American standards are different in this respect. We prefer European ones. Nevertheless any information is welcome. Thanks to all in advance Javier - Using Tomcat but need to do more? Need to support web services, security? Get stuff done quickly with pre-integrated technology to make your job easier. Download IBM WebSphere Application Server v.1.0.1 based on Apache Geronimo http://sel.as-us.falkag.net/sel?cmd=lnkkid=120709bid=263057dat=121642 ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users _ Don't just search. Find. Check out the new MSN Search! http://search.msn.com/ - Using Tomcat but need to do more? Need to support web services, security? Get stuff done quickly with pre-integrated technology to make your job easier. Download IBM WebSphere Application Server v.1.0.1 based on Apache Geronimo http://sel.as-us.falkag.net/sel?cmd=lnkkid=120709bid=263057dat=121642 ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users - Using Tomcat but need to do more? Need to support web services, security? Get stuff done quickly with pre-integrated technology to make your job easier. Download IBM WebSphere Application Server v.1.0.1 based on Apache Geronimo http://sel.as-us.falkag.net/sel?cmd=lnkkid=120709bid=263057dat=121642 ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] HOME Sensors
On Mon, 2007-02-05 at 07:53 -0500, Jim Register wrote: On Mon, 2007-02-05 at 11:11 +0100, Javier Ros Ganuza wrote: Returning to my previous thread about HOMING. I did read the information pointed out here (section 5.4 of the manual), and there is some thing I can understand: What is index pulse?. I have brushless servos with quadrature encoders. Is the index pulse signal the one from the quadrature encoder, or is it a different signal (the one coming for hal sensors, something entirely different, or something that can be arbitrarily assigned within EMC, or..)???. Javier, The index pulse would come from the simulated encoder on the 631 servo drive, on the X40 pins labeled Z and /Z. In our case, the Z or /Z are not simulated (I think :) ), the brushless have a quadrature encoder, and we are driving all to the motenc-100 terminal board. http://imac/parallel/images/argazkiak/DSCN1697.JPG shows the conection of the RJ45 standard ethernet cable to the board (left-up) And in http://imac/parallel/images/argazkiak/DSCN1691.JPG you can see the Oposite end of the same RJ45 cable, conected to the X40 input. We have configured the 631 servo to output quadrature signals from X40. So if I got the idea: We can use index pulse, and the index pulse is taken from the Z and/or /Z signals that is being fed to the card. So activating index pulse in the HOMING configuration will work (in fact it works but we didn't known if index pulse was actually being used) using index pulse.??? So in general (just for curiosity), index pulse is always taken from Z and/or /Z signal from quadrature encoder??? Many thanks Javier Ros Jim - Using Tomcat but need to do more? Need to support web services, security? Get stuff done quickly with pre-integrated technology to make your job easier. Download IBM WebSphere Application Server v.1.0.1 based on Apache Geronimo http://sel.as-us.falkag.net/sel?cmd=lnkkid=120709bid=263057dat=121642 ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users - Using Tomcat but need to do more? Need to support web services, security? Get stuff done quickly with pre-integrated technology to make your job easier. Download IBM WebSphere Application Server v.1.0.1 based on Apache Geronimo http://sel.as-us.falkag.net/sel?cmd=lnkkid=120709bid=263057dat=121642 ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] HOME Sensors
Thanks to all for your quick response. Let's introduce myself. 2 year ago I appeared in this list saying that I wanted to make a hexaglide type parallel manipulator. Then I got a lot of support from this list, bibliography references,... We had six old brussless motors with drives (eurotherm), and 4086 per revolution encoders, and 6 TKM Linear guides (aproximately 1 meter long and 10mm per rev) has been bought, and motenc-100 8 axis card. 3 months ago, trough public financiation, I have now an engineer working with me (Aitor Plaza), and we have started building the whole thing. Mechanical connexions between motors and linear guides has been mechanized, and we have asembler our first guide with 3 identical magnetic Omrom contacts (lower and up limits and home). EMC2 was able to move the subsystem wonderfully two days ago ( :)) !!). I'm impressed. We have made the drawings of the supporting structure, and a local machinist is making it right know. The next stem is to mount the guides motors and sensor in the structure and to get a deeper knowledge of EMC2, in order to implement the parallel kinematic structure. (we will com back with questions regarding to this) In parallel we'll finish the design of the head, and will try to get financial support to that end. The objective is to make a kinematical calibration of the whole thing, in order to correct the assemblies imperfections as much as possible. To that end a reference position for any of the guides has to be know precisely (things are absolute due to the nonlinearity of the system kinematics and we need an absolute reference), we want to home the robot to a given position, an we need this position to be very repeatable between different runs. We'll revise the referenced manual in detail the emc handbook esplains how to enable the use index for homing. (and other neat homing stuff) but I'm thinking that we have to do some measurements about the repeatability in homing that EMC2 achieves using the mentioned Omrom relay before going any further. We will try to figure how to do this using EMC. We will also investigate the ability of the system to maintain a given position when forces are applied to the system. I have no previous experience about the whole subject so I'm planing to come back with some questions, I hope this not to be a problem for this list, although some the questions can be not directly related to EMC2. I would like to build a web page in order to document the different steps of the construction design and EMC related issues. If it is done I'll publicize it in this list. Thanks again Javier Ros and Aitor Plaza - Take Surveys. Earn Cash. Influence the Future of IT Join SourceForge.net's Techsay panel and you'll get the chance to share your opinions on IT business topics through brief surveys - and earn cash http://www.techsay.com/default.php?page=join.phpp=sourceforgeCID=DEVDEV ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
