seems to be in order.
Rudy du Preez
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>>> I am busy converting a Motorman 6-axis robot to Linuxcnc. The
>>> original Yaskawa motors and servo drives are used. The motors are
>>> all fitted with absolute encoders. The encoders have ..
>>
>
>> Hi Rudy
>
>> I know this is a while back, but did you get your robot working?
>
>On Mon, 9 Sep 2013 at 14:48, Rudy du Preez wrote:
>> I am busy converting a Motorman 6-axis robot to Linuxcnc. The original
>> Yaskawa motors and servo drives are used. The motors are all fitted
>> with absolute encoders. The encoders have ..
>
>Hi Ru
to world coordinates.
Rudy du Preez
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Emc-users
I can also report some success with Fusion 360. I have produced some GCODE
for milling quite easily, creating the CAD model directly in Fusion 360.
I have also done some turning work, starting with the Siemens turning Post
and modifying it for LCNC. So far I have found it easy to modify. The G33
I may mention that through the SA-CNC-CLUB we have been importing a large
number of servos systems and inverters from XINJE in China (www.xinje.com)
for club members. So far we have had very good performance and good service
from this supplier. They also supply stepper drivers and PLC'c.
All,
I have a project coming up in which I would like to use linuxcnc to control
placement and angle of a robot arm. the kinematics for this would need to
be customized for the specific situation.
I was wondering if anyone could share an example of a fairly simple
kinematics .h RT file as well as
As requested I have uploaded a tar file of the config directory of my
Motoman robot. All the files are included except the stl files for the
Vismach model. They are apparently too big to upload. There are also a few
test gcode files.
Yes you can drill and do other operations in any local or tool
I am having problems to compile pumakins using the command:
comp --install pumakins.c
The warning during compilation is Unknown Symbol:
pmHomPoseConvert
pmPoseHomConvert
pmRpyQuatConvert
pmQuatRpyConvert
Can anybody explain to me how to compile pumakins.c. There seems to be a
problem with it
I have tried in version 2.5.3 to create a special realtime thread using the
threads component with loadrt threads name1=sio-thread period1=104200 and
am having some problems.
In some cases (depending on the period) linuxcnc wont start up and gives an
error message not permitted.
I would like to
I now have to use the value to set the absolute position for the joint,
but
have not found the best way to do this in Linuxcnc yet.
Any ideas from the experienced Linuxcnc users on this?
I _think_ that might be as simple as just wiring the value to
axis.N.motor-pos-fb
--
atp
Thanks Andy -
I have managed to read the initial serial data which defines the absolute
position of an axis. The A and B channels of the absolute encoder are taken
to the 7i33 on P2 of a MESA 5i23 as usual, The A channel which also carries
the serial data when enabled initially, is also taken to a GPIO input on
I now realize that the A phase cannot go through the counter in the firmware
of the 6i25+7i77 setup and then read serial data.
Would it be easier to use a 5i20 + 7i33 combination. Then modify the
firmware so under some control input bit the A phase is first passed through
by-passing the counter,
I am busy converting a Motorman 6-axis robot to Linuxcnc. The original
Yaskawa motors and servo drives are used. The motors are all fitted with
absolute encoders. The encoders have differential A and B pulse trains, but
the A channel is used in the beginning to send 8 bytes of serial data plus
I have mentioned it before: Atom MB based on 425 and 525 processor chips
have the EPP problems that can be fixed with Jon Elson's program.
The newer Intel boards 2500, 2700 and now 2800 do not have this problem. We
are using the 2800 Intel board with or without Mesa 6i25 cards almost
exclusively
Pncconf gives a message that a PDM frequency of 6000 is required and
puts that into the HAL file. Should it not be 6x10^6?
Rudy
Its definately supposed to be 600 Hz so this is a pncconf bug (Is this
the latest pncconf?)
Peter Wallace
Mesa Electronics
Yes it came with Linuxcnc 2.5.2
There seems to be some misunderstanding regarding the PDM frequency for a
7i33. The Integrators manual, V2.5, p140 states that the frequency is in Hz.
The 7i33 manual recommends 6 MHz.
Pncconf gives a message that a PDM frequency of 6000 is required and puts
that into the HAL file. Should it not
I recently added the Servo and Stepper subsections to the
[AXIS_num] section based on your suggestion. If you fetch a newer
pdf you'll find the new subsections there too.
--
Sebastian Kuzminsky
Thanks, that is a step forward, but I still have issues with the wording on
the two parameters
I find pages 20 to 23 of the Integrators manual V2.5, 2013-03-26 very
confusing:
Page 20 is headed 3.2.10.1 Homing.
It discusses HOME related parameters and the suddenly jumps into PID
settings. Is that correct? At least a heading is missing.
Please read the paragraph on OUTPUT_OFFSET = 0.000
22-April: Andrew parallel.kinemat...@gmail.com
How can the second value (offset) first be subtracted from the
computed value (in volts) and the be divided by the first value
(scale)?
Offset is also measured in volts, I guess.
At the bottom of page 21 it uses mm/s for the offset.
I
Thanks for all the interest.
I used Mastercam at a friend of mine. The impeller CAD model was fetched
somewhere from the Internet. I wrote my own post processor in Delphi - it
reads the NCI file that Mastercam creates. This file has the tip and tail 3D
coordinates of the tool in the toolpath in
I have uploaded to videos on YouTube showing the cutting of an impeller with
Linuxcnc using the XYZACkins that I wrote (on the Wiki).
The videos are not very professional, and the 5axis setup is just a test of
functionality, using two rotary tables, one mounted on the other. The
machine is a
The Intel D2800MT actually has a parallel port. It sits on the board and
needs a ribbon cable extension.
I am currently running a Linuxcnc 2.5.2 on this board with two parports: one
in the PCI-E slot and one on the ribbon cable.
One is configured as out and the other as in.
Rudy
I may share the experience of SA-CNC-CLUB members with mini-ITX
motherboards.
We have used at least 10 425 and 525 Intel Atom boards with no trouble
except the parallel port EPP problem.
Lately we have changed over to the D2500HN, D2700MUD and D2800MT boards with
no trouble. The latter has an
I have recently installed picoPSU 90W (with extra 12V plug for MB) and 80W
(without the plug) onto ten D425KT atom MB's and one N2700 MB. The latest
range N2500..N2700 do not need the 12V link. I use standard 12V laptop
PSU's.
The Atoms all have a riser card with one MESA 5i20 or 5i23 or 5i22
The full link to the group is:
tech.groups.yahoo.com/group/sa-cnc-club
You may have to register to be able to access the photos. Sign on - you can
always de-register afterwards.
Rudy
--
Write once. Port to many.
Get
I have found a way to do rotational shifts of the C-axis using XYZACkins. I
use the B-axis for that and just program G0 Bxx at the start of each blade
of the impeller, where xx is the absolute position of each blade; ie 0, 90,
180, 270 for 4 blades.
The B position is available and free to use in
Viesturs
No I did not screw it up. My kinematics equations are an abstract from a
full XYZACkins program with dx,dy,and dz axis offsets, which have been
tested and has worked for a long time cutting impellers and other stuff. I
wanted to keep it simple to address the issue of G54, to G59 offsets.
In a recent posting I did say where photo's of my machine and an impeller
cut with it can be looked at.
It is in groups.yahoo.com under group SA-CNC-CLUB in photos. This is the
discussion group for our local CNC club (South Africa), which I started
about 2 years ago (SA-CNC-CLUB) and has about 40
Viesturs
Thanks for the response.
Perhaps before we go any deeper, have a look at what I have done.
I Yahoogroups, under group SA-CNC-CLUB, you will find some photos of the
5-axis machine setup and the part cut.
I tried to use a G54 in the GCODE for a C-axis offste - it did not seem to
work.
I am confused with G54 to G59. Look at the following code and run it on a
simulation setup with Axis C rotation added:
G10 L2 P1 x0 y0 C0
G10 L2 P2 x10 y10 C0
G10 L2 P3 x0 y0 C-45
o100 sub
G0 x25 y0
G1 x30 f200
G1 y5
G1 x25
G1 y0
o100 endsub
g54 G0 x0 y0 C0
o100 call
g55 G0 x0 y0 C0
o100
I now have a working 5-axis table-table EMC2 controlled machine and have
cut my first 7-bladed impeller (turbo-charger type with slanted and
curved blades). However, I have to provide GCODE for all 7 blades since
G54 type offsets do not seem to work for the C-axis, whereas they seem
to work for
Hi
I see some discussion on PC board making. My experience:
1. Look for Gerber view programs (gerbv)
2. You need a high speed spindle - I use a Kavo spindle (about 30 mm dia and
100 mm long - runs 6 rpm) - look for KAVO spindles. Gives excellent
results using PCB-GCODE software and EAGLE
I want to report a problem and fix I had while trying to load first W7 and
then Ubunto 10.4/Emc2 live CD.
The new motherboard is an ASUS with socket 1155 and the processor a Intel
Quad core I7.
The SATA config (2x6 Gb/s = 4x 3Gb/s) default BIOS setting was IDE. W7 would
install but then Ubuntu
I am sorry to leave some guys struggling with unpacking the tar file for the
XYZACkins I posted on the Wiki. I wanted to pass it on in some other way,
but due to the fact that I lost the battle against a virus in my dual boot
PC, I have a delay to get access to the Ubuntu/EMC part of my PC.
I
Not finding any other way to upload the XYZACkins that I recently developed,
I added a small description to the Wiki under HAL user contributed
components: Kinematics. A link to a tar.gz file is given which contains the
kinematics code as well as the ini and hal files, a vismach simulation model
I have finished testing the 5-axis XYZAC kinematics I was developing. A
zipped tar file containing the C-code, a VISMACH simulation model of my
HERMLE milling machine, the ini and hal files and a sample GCODE program has
been sent to Chris Radek for checking and uploading to EMC files if he is
I am happy to report that after a relook at the XYZAC forward
transformation, as Chris suggested, I did find some errors related to the z-
and y-offsets of the C rotary table relative to the A trunnion. They have
been corrected and now there is no more jumping around when changing any
modes or
Hi Steve
I just last week finished fitting a trunnion and rotary table to my milling
machine. The kinematics programming and machine simulation with VISMACH has
been sorted out and the 5-axis simultaneous control through EMC2 works. The
machine is a XYZAC configuration.
There are some mysterious
tested only
on a mock-up layout).
I am so used to using mechanical stops on my manual Schaublin 125 that I
want this also for quick jobs on the bigger Weiler.
Rudy du Preez
--
Enable your software for Intel(R) Active
and when you update EMC2
from time to time you do not over-write your own mods.
I am not quite finished yet, but it works well on a high res screen.
Rudy du Preez
--
Increase Visibility of Your 3D Game App Earn a Chance
driver). This allows an X-windows setup in the
/etc/X11/xorg.conf.d.
Rudy du Preez
--
Nokia and ATT present the 2010 Calling All Innovators-North America contest
Create new apps games for the Nokia N8 for consumers
Here is what worked for me to implement the LG 1730 touch screen:
1. sudo apt-get install xserver-xorg-input-evtouch (0.0.8-3build1)
2. put the following file in /usr/lib/X11/xorg.conf.d/
Section InputClass
Identifier touchscreen catchall
MatchIsTouchscreen on
Sorry I forgot to mention the filename to be placed in
/usr/lib/X11/xorg.conf.d/ should be
10-evtouch.conf
Rudy
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Start uncovering the many advantages of virtual appliances
and start using them to simplify
Stuart
I sent the email this morning from my office. I was planning to give more
detail tonight when I am home. I will delve out the details and post it
tonight. Hopefully it will useful to the group.
Rudy
--
Start
I have just completed the conversion of my HERMLE 801 to EMC2. Rigid tapping
was the last function to implement. From my experience you need an encoder
coupled to the spindle. I used a simple but reliable encoder made by CUI
(AMT102, www.cui.com). With the A, B and Index pulses EMC knows the
Niels, Andy and Ed
Thanks for your advice and links to the solutions. I tried some of these
last night on my little converted EMCO F1 mill, and I think it will solve my
problems. By having a subroutines Probe_Init and Probe_Tool in two files
that can be loaded directly after each TnM6 command in
There was extensive discussions about jogging and tool touching during pause
or tool change. I did not follow all of it. I wonder if it is possible with
a touch probe installed to have a probe action programmed after each tool
change in order to set the new tool length, without using the tool
From: Rudy du Preez r...@asmsa.co.za
Reply-To: Enhanced Machine Controller (EMC)
emc-users@lists.sourceforge.net
To: emc-users@lists.sourceforge.net
Subject: Re: [Emc-users] Analogue servo driving with Mesa 7i33
I have managed pretty well converting 3 machines to EMC2 - two
I have managed pretty well converting 3 machines to EMC2 - two using the
parallel port and one using Mesa 5i20 and 7i29 cards. However, now I am
looking at using a 5i20+7i33 setup to drive analogue servo drivers that need
two inputs, AN+ and AN- 10V (and GND?). It is not clear to me how this is to
I have now converted three machines to EMC2 using parallel port for the two
small machines (a lathe and a mill) and 5i20+7i37 cards for the bigger
milling machine. The next two (lathes) are a bit more complicated in that
they have servo motors with encoders driving the spindles.
Whereas the
Sebastian and Andy
Many thanks for the pointer to the correct docs.
I was looking at the integrators manual (pdf). It fails to mention the pins
velocity-cmd and control-type. It has other errors also.
I new the answer would be something like this - I am still learning where to
find good docs on
Can all please take note: the Integrators (pdf) manual link on the main
linuxcnc.org website is out of date.
The latest manual is at linuxcnc.org/docs/devel/. It has the latest info on
Hostmot2 for instance.
Rudy
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Thanks for the discussion on stepper motor performance. We have all
confirmed that the limit in speed lies not in the software, but in the motor
and its supply voltage. That's what I wanted to be sure about.
I want to start another subject: G71,G72,G73 cycles for lathes.
I have been using
What do they do?
I get the impression that they are lathe roughing cycles (turning,
facing, boring?) If so then the same thing can be easily performed by
simple loops in G-code.
I even think it is possible to create user-defined G-codes (which
could contain the loops) but I can't find
I tested a Nema 23 two stack stepper (bipolar) in closed loop with EMC2
lately. The stepper driver is a Gecko 251 at 45V and 3A. The encoder is an
AMT102 connected TTL to a MESA 5i20 (P2) through a 7i33. The G251 step/dir
signals are connected directly to the 5i20 (P4). The objective was to see
Andy and Sebastian
Thanks for the confirmation of my own feelings of the performance of a
stepper motor at high speed. The motor was run in position control.
Sometimes one hears of motors being run at 3000 rpm and even more. I just
wonder how that can be done - higher drive voltage?
Rudy
I have a general question about the throughput of EMC2 and what determines
it. I friend is using nurb modeling to describe the shapes that he has to
mill in soft material. So far he has had disappointing results using EMC2 in
that the processing of the large gcode files with many short vectors and
Slavko, Sven and Jeff
Thanks a lot for the prompt response and the hints and information. We will
use the info to investigate our problem and see if we can improve the
performance. I will report back on the results.
Rudy
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Hello!
I have NetMos Technology PCI 9835 Multi I/O Controller with 1parallel an 2
serial ports. When I configuring it to work in out-mode - it works fine,
12 outputs and 5 inputs(i have checked outs with multimeter and ins by
wire
with the 470 R ). When I configuring it to work in in-mode,
Andy
Thanks very much for the info on setup for lathe threading, and for the link
to a lot more info on the subject.
I got the setup going within a few minutes after reading your proposals.
The only extra thing I did was to put the input pin from my one-pulse-per-
rev sensor on both the phase-A
I have been successful in getting almost all functions of my EMCO C5
converted lathe working with EMC2 - spindle speed control and speed
feedback, auto tool changer, MPG, etc., including some ladder programming.
However, I am stuck at the moment with the set up for threading. The G33 and
G76 codes
Date: Fri, 5 Feb 2010 23:12:01 -0500
From: e...@dc9.tzo.com
To: emc-users@lists.sourceforge.net
Subject: Re: [Emc-users] Classicladder problem
Rudy,
I'd probably put another assignment statement below the existing one,
but assign the value to a register that you can monitor.
That way
Dave wrote
I assume the TMn.P is the preset value for a timer?
Are you saying that when you enter the preset value into the program and
and run it, it works. But the preset value is lost after shutting down
EMC2 and restarting?
Does this occur even when you are not using an assignment to
does not
work - it seems to remain 0.
Any help to clarify will be appreciated. I am on the 8.04 Ubuntu system with
the latest EMC2.
Regards
Rudy du Preez
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