[Emc-users] CNC Plasma Tube Notcher

[Kurt Jacobson]

Hello all,

Some of the videos linked in the "LCNC TED Talk style" thread reminded me
of a CNC plasma tubing notcher I designed and built a few years ago while I
was in school. I think some of you might be interested.

As built the notcher has a capacity of 4". It consists of a rotating
pneumatically actuated chuck and a horizontal linear axis that moves the
torch to and fro along the axis of the tube.

The fab shop I designed the notcher for usually had the client provide them
with CAD generated templates, so one of the goals of the project was to be
able to scan in these templates and generate G-code so multiple notches
could be cut. I used a simple probing sub and a fiber optic sensor in place
of the plasma tourch to scan a template warped around a tube. This was slow
but worked well and was reliable.

For cases were a template was not provided I wrote a small MATLAB program
and GUI to generate the g-code given the joint parameters.

I initially used Mach3 for the control, but then I switched to GRBL with a
custom interface so they would not have to keep a Win XP PC with parport
around just to run the notcher. What I would love to do is rework it to
have LinuxCNC on a BB or RPi on board with a small touch screen. It would
be fairly easy to write a custom interface so machine control, template
scanning and G-code generation could all be done from one interface.


A google photo album of the notcher build:
https://goo.gl/photos/RcgPV2fRfD5ChmQ39


Early video of notcher in action:
https://youtu.be/uZP3JNNKDLQ

Following a scanned template:
https://youtu.be/DsCuw9TPBeY

Scanning a template:
https://youtu.be/QfmZeYXlU6E

Chuck self centering small diameter:
https://youtu.be/5S8kO3-p4vs


TubeNotch MATLAB program:
https://github.com/KurtJacobson/TubeNotch


Regards,
Kurt
--
Check out the vibrant tech community on one of the world's most
engaging tech sites, Slashdot.org! http://sdm.link/slashdot
___
Emc-users mailing list
Emc-users@lists.sourceforge.net
https://lists.sourceforge.net/lists/listinfo/emc-users

Re: [Emc-users] LCNC TED Talk style

[Jon Elson]

On 06/15/2017 06:10 PM, Ralph Stirling wrote:

I don't believe Robert Ellenberg's PhD thesis was related to
his LinuxCNC motion planner work.  His thesis title is:
"A Stability-Estimator to Unify Humanoid Locomotion: Walking,
Stair-Climbing and Ladder-Climbing"

The link to it is:
https://idea.library.drexel.edu/islandora/object/idea%3A4538/datastream/OBJ/download/A_Stability-Estimator_to_Unify_Humanoid_Locomotion.pdf

My recollection is that Tormach paid him to work on the motion
planner (for both LinuxCNC and Machinekit).  I could be wrong,
but perhaps he will pop in here and give the definitive answer.


Yes, I can believe that his thesis did not come directly out 
of LinuxCNC, but I think there WAS some tie-in.  There may 
have been some mathematical problems that he solved for one 
of these projects that was helpful in the other.


The basic TP problem with the old EMC was lookahead, and 
that was the problem that Robert tackled.  A general 
solution to executing a series of moves as fast as possible 
while always obeying velocity and acceleration limits.  I 
can see why similar problems might come up in any kind of 
motion system that makes complex movements.


Jon

--
Check out the vibrant tech community on one of the world's most
engaging tech sites, Slashdot.org! http://sdm.link/slashdot
___
Emc-users mailing list
Emc-users@lists.sourceforge.net
https://lists.sourceforge.net/lists/listinfo/emc-users

Re: [Emc-users] LCNC TED Talk style

[hubert]

If you look at the vita attached to the thesis, you will see that he 
lists the work he did for LinuxCNC.



On 6/15/17 6:34 PM, Chris Albertson wrote:

Certainly no one today would get a Phd for writing a CNC controller.  But I
would not be surprised at all if he did not need to do a considerable
amount of work involving motion planning if he was working with statically
unstable walking robots.

Likely some of that work found it's way in to a CNC motion planner.   The
logic involved is the same no matter the application.   You build a
trajectory line through space then chop the line in time at the control
period and then "magic" happens and you end up with joint rates.

On Thu, Jun 15, 2017 at 4:10 PM, Ralph Stirling <
ralph.stirl...@wallawalla.edu> wrote:


I don't believe Robert Ellenberg's PhD thesis was related to
his LinuxCNC motion planner work.  His thesis title is:
"A Stability-Estimator to Unify Humanoid Locomotion: Walking,
Stair-Climbing and Ladder-Climbing"

The link to it is:
https://idea.library.drexel.edu/islandora/object/idea%
3A4538/datastream/OBJ/download/A_Stability-Estimator_to_Unify_Humanoid_
Locomotion.pdf

My recollection is that Tormach paid him to work on the motion
planner (for both LinuxCNC and Machinekit).  I could be wrong,
but perhaps he will pop in here and give the definitive answer.

-- Ralph

From: Jon Elson [el...@pico-systems.com]
Sent: Wednesday, June 14, 2017 6:21 PM
To: Enhanced Machine Controller (EMC)
Subject: Re: [Emc-users] LCNC TED Talk style

On 06/14/2017 11:25 AM, Sven Wesley wrote:

RUGBOT!!! :D That is so nerdy I must show it!
And of course Chris' jukebox for the finale. :)
Anyone with a Raspberry or a Beagle? Would be perfect to show the wide
range. Think Raspberry CNC and the Stuart's monster.

I manufacture the CRAMPS board that adds 6 stepper drivers
and some heater FETs to the Beagle Bone for 3D printer
setups.  All the brilliant stuff was done by Charles
Steinkuehler, especially mating the step generator and PWM
functions running on the Bone's PRU processor to a real-time
HAL component that runs on the ARM.

What is the most complex code in the code base. I want to point out that
this really is some hardcore stuff. The people I'm talking to are really
good programmers so I want to give them some weird stuff. :)


I'm not sure of complexity, but Robert Ellenberg's new
trajectory planner is VERY well thought out (Hell he got a
PhD out of it!)  and is one of the biggest improvements in
LinuxCNC is the last few years.  He gave a talk at one of
the Machinekit meets describing all the intricacies, and I
was barely able to follow the general concept.

Jon


--
Check out the vibrant tech community on one of the world's most
engaging tech sites, Slashdot.org! http://sdm.link/slashdot
___
Emc-users mailing list
Emc-users@lists.sourceforge.net
https://lists.sourceforge.net/lists/listinfo/emc-users


--
Check out the vibrant tech community on one of the world's most
engaging tech sites, Slashdot.org! http://sdm.link/slashdot
___
Emc-users mailing list
Emc-users@lists.sourceforge.net
https://lists.sourceforge.net/lists/listinfo/emc-users







--
Check out the vibrant tech community on one of the world's most
engaging tech sites, Slashdot.org! http://sdm.link/slashdot
___
Emc-users mailing list
Emc-users@lists.sourceforge.net
https://lists.sourceforge.net/lists/listinfo/emc-users

Re: [Emc-users] LCNC TED Talk style

[Chris Albertson]

Certainly no one today would get a Phd for writing a CNC controller.  But I
would not be surprised at all if he did not need to do a considerable
amount of work involving motion planning if he was working with statically
unstable walking robots.

Likely some of that work found it's way in to a CNC motion planner.   The
logic involved is the same no matter the application.   You build a
trajectory line through space then chop the line in time at the control
period and then "magic" happens and you end up with joint rates.

On Thu, Jun 15, 2017 at 4:10 PM, Ralph Stirling <
ralph.stirl...@wallawalla.edu> wrote:

> I don't believe Robert Ellenberg's PhD thesis was related to
> his LinuxCNC motion planner work.  His thesis title is:
> "A Stability-Estimator to Unify Humanoid Locomotion: Walking,
> Stair-Climbing and Ladder-Climbing"
>
> The link to it is:
> https://idea.library.drexel.edu/islandora/object/idea%
> 3A4538/datastream/OBJ/download/A_Stability-Estimator_to_Unify_Humanoid_
> Locomotion.pdf
>
> My recollection is that Tormach paid him to work on the motion
> planner (for both LinuxCNC and Machinekit).  I could be wrong,
> but perhaps he will pop in here and give the definitive answer.
>
> -- Ralph
> 
> From: Jon Elson [el...@pico-systems.com]
> Sent: Wednesday, June 14, 2017 6:21 PM
> To: Enhanced Machine Controller (EMC)
> Subject: Re: [Emc-users] LCNC TED Talk style
>
> On 06/14/2017 11:25 AM, Sven Wesley wrote:
> > RUGBOT!!! :D That is so nerdy I must show it!
> > And of course Chris' jukebox for the finale. :)
> > Anyone with a Raspberry or a Beagle? Would be perfect to show the wide
> > range. Think Raspberry CNC and the Stuart's monster.
> I manufacture the CRAMPS board that adds 6 stepper drivers
> and some heater FETs to the Beagle Bone for 3D printer
> setups.  All the brilliant stuff was done by Charles
> Steinkuehler, especially mating the step generator and PWM
> functions running on the Bone's PRU processor to a real-time
> HAL component that runs on the ARM.
> > What is the most complex code in the code base. I want to point out that
> > this really is some hardcore stuff. The people I'm talking to are really
> > good programmers so I want to give them some weird stuff. :)
> >
> I'm not sure of complexity, but Robert Ellenberg's new
> trajectory planner is VERY well thought out (Hell he got a
> PhD out of it!)  and is one of the biggest improvements in
> LinuxCNC is the last few years.  He gave a talk at one of
> the Machinekit meets describing all the intricacies, and I
> was barely able to follow the general concept.
>
> Jon
>
> 
> --
> Check out the vibrant tech community on one of the world's most
> engaging tech sites, Slashdot.org! http://sdm.link/slashdot
> ___
> Emc-users mailing list
> Emc-users@lists.sourceforge.net
> https://lists.sourceforge.net/lists/listinfo/emc-users
>
> 
> --
> Check out the vibrant tech community on one of the world's most
> engaging tech sites, Slashdot.org! http://sdm.link/slashdot
> ___
> Emc-users mailing list
> Emc-users@lists.sourceforge.net
> https://lists.sourceforge.net/lists/listinfo/emc-users
>



-- 

Chris Albertson
Redondo Beach, California
--
Check out the vibrant tech community on one of the world's most
engaging tech sites, Slashdot.org! http://sdm.link/slashdot
___
Emc-users mailing list
Emc-users@lists.sourceforge.net
https://lists.sourceforge.net/lists/listinfo/emc-users

Re: [Emc-users] LCNC TED Talk style

[Ralph Stirling]

I don't believe Robert Ellenberg's PhD thesis was related to
his LinuxCNC motion planner work.  His thesis title is:
"A Stability-Estimator to Unify Humanoid Locomotion: Walking, 
Stair-Climbing and Ladder-Climbing"

The link to it is:
https://idea.library.drexel.edu/islandora/object/idea%3A4538/datastream/OBJ/download/A_Stability-Estimator_to_Unify_Humanoid_Locomotion.pdf

My recollection is that Tormach paid him to work on the motion
planner (for both LinuxCNC and Machinekit).  I could be wrong,
but perhaps he will pop in here and give the definitive answer.

-- Ralph

From: Jon Elson [el...@pico-systems.com]
Sent: Wednesday, June 14, 2017 6:21 PM
To: Enhanced Machine Controller (EMC)
Subject: Re: [Emc-users] LCNC TED Talk style

On 06/14/2017 11:25 AM, Sven Wesley wrote:
> RUGBOT!!! :D That is so nerdy I must show it!
> And of course Chris' jukebox for the finale. :)
> Anyone with a Raspberry or a Beagle? Would be perfect to show the wide
> range. Think Raspberry CNC and the Stuart's monster.
I manufacture the CRAMPS board that adds 6 stepper drivers
and some heater FETs to the Beagle Bone for 3D printer
setups.  All the brilliant stuff was done by Charles
Steinkuehler, especially mating the step generator and PWM
functions running on the Bone's PRU processor to a real-time
HAL component that runs on the ARM.
> What is the most complex code in the code base. I want to point out that
> this really is some hardcore stuff. The people I'm talking to are really
> good programmers so I want to give them some weird stuff. :)
>
I'm not sure of complexity, but Robert Ellenberg's new
trajectory planner is VERY well thought out (Hell he got a
PhD out of it!)  and is one of the biggest improvements in
LinuxCNC is the last few years.  He gave a talk at one of
the Machinekit meets describing all the intricacies, and I
was barely able to follow the general concept.

Jon

--
Check out the vibrant tech community on one of the world's most
engaging tech sites, Slashdot.org! http://sdm.link/slashdot
___
Emc-users mailing list
Emc-users@lists.sourceforge.net
https://lists.sourceforge.net/lists/listinfo/emc-users

--
Check out the vibrant tech community on one of the world's most
engaging tech sites, Slashdot.org! http://sdm.link/slashdot
___
Emc-users mailing list
Emc-users@lists.sourceforge.net
https://lists.sourceforge.net/lists/listinfo/emc-users

Re: [Emc-users] max joint number

[theman whosoldtheworld]

https://www.youtube.com/watch?v=-7xvqQeoA8c

these is the best (definitely better than HONDA Asimo)  It's a shame
that google has sold boston dynamics  hope for better robot project
(maybe a robot D-wave driven over QUIC or better  wifi bus ???.. )

bkt

2017-06-15 23:34 GMT+02:00 theman whosoldtheworld :

> good ... about axis number is for 2 arm robot ... not planning to
> partecipate to darpa race (for these year ;)) ... the pose number is more
> hight then world axis ... and actual axis number in g code, for 2 arm robot
> (18 axis) I think is quite good, because most part of work is on pose flag
> not in g-code world axis position  a connection from Mxx to
> customkins.c I think is quite good kinematics flag selector way  any
> how good trik xx yy zz as axis label.
>
> For coordinated motion of 100 axis darpa robot humanoid, using the g-code
> would not be very reasonable as the robot should have a completely adaptive
> motion and very little repetitive behavior  but if a creazy person
> would play around i think 5-10 little cpu with lcnc instance runnng and
> rt-ethernet bus connected may be the way. But these things seem a Marx
> brothers sketch.
>
> bkt
>
> 2017-06-15 20:34 GMT+02:00 Chris Albertson :
>
>> You are right.  It takes 12 numbers to specify the location the
>> orientation
>> of two arms.  But in a typical robot there will be more than 12 axis.   If
>> you look at the stat of the art, there could be 100+ axis, see below.
>>
>>
>> With a typical robot the number of axis may not equal the number of
>> degrees
>> used to specify the pose.   For example it is common to specify an X,Y,Z
>> and orientation using six numbers but it very well might be there as 7
>> degrees (or more) of freedom in the arm.  It other words there would be an
>> infinite number of inverse kinematic solutions.   And a controller would
>> choose a plan to (say) minimize angular velocity, accelerations or toque
>> and to avoid collisions of (say) the elbow hitting nothing while moving
>> the
>> hand.Typically you need extra axis to avoid collisions and "gimbal
>> locks" and such.
>>
>> Machine tools are mostly very simple.  We design the tool so all axis are
>> square so to move 1 inch in X we simply move the X motor one inch.  But a
>> robot's axis are likely NOT square and the axis do not meet at the origen
>> and the angles between the axis can change.
>>
>> Here is a great video of a toy-like 18 axis machine. But the control
>> software is very primitive and depends on human in the loop remote control
>> for path planning
>> https://youtu.be/aH07qF_bhgA?t=9s
>>
>> MUCH more sophisticated control is used here.  The machine is given only a
>> high level goal. "lift and cary the box" and is otherwise self directed
>> (notice the q-codes on the box and doors and laser scanner in the head.)
>> https://youtu.be/rVlhMGQgDkY?t=1m22s
>>
>> 
>> H ow many axis are running here?
>> Between  jack and Sophia, maybe 100+  Jack is the car, sophia is in the
>> passenger seat. This is the current state of the art.  (Do NOT over
>> estimate sophia, she uses plenty of "dumb tricks" like responding with
>> "yes, I agree" when she has no clue what you just said)  In the end this
>> is
>> motion control. Many dozens of motors are running and being synchronized
>> https://youtu.be/vtX-qVUfCKI?t=40s
>>
>>
>> On Thu, Jun 15, 2017 at 9:52 AM, andy pugh  wrote:
>>
>> > On 15 June 2017 at 17:36, Chris Albertson 
>> > wrote:
>> >
>> > > It depends on one's approach to a multi arm/leg robot.You can
>> > > treat it as two 6 DOF arms or
>> > > as one 12 DOF assembly.
>> > >
>> >
>> > I can certainly imagine a 2-arm robot using XYZ and UVW to position two
>> > arms. Though then you run out of orientation angles for the UVW tool.
>> >
>> >
>> > --
>> > atp
>> > "A motorcycle is a bicycle with a pandemonium attachment and is designed
>> > for the especial use of mechanical geniuses, daredevils and lunatics."
>> > — George Fitch, Atlanta Constitution Newspaper, 1916
>> > 
>> > --
>> > Check out the vibrant tech community on one of the world's most
>> > engaging tech sites, Slashdot.org! http://sdm.link/slashdot
>> > ___
>> > Emc-users mailing list
>> > Emc-users@lists.sourceforge.net
>> > https://lists.sourceforge.net/lists/listinfo/emc-users
>> >
>>
>>
>>
>> --
>>
>> Chris Albertson
>> Redondo Beach, California
>> 
>> --
>> Check out the vibrant tech community on one of the world's most
>> engaging tech sites, Slashdot.org! http://sdm.link/slashdot
>> ___
>> Emc-users mailing list
>> Emc-users@lists.sourceforge.net

Re: [Emc-users] max joint number

[theman whosoldtheworld]

good ... about axis number is for 2 arm robot ... not planning to
partecipate to darpa race (for these year ;)) ... the pose number is more
hight then world axis ... and actual axis number in g code, for 2 arm robot
(18 axis) I think is quite good, because most part of work is on pose flag
not in g-code world axis position  a connection from Mxx to
customkins.c I think is quite good kinematics flag selector way  any
how good trik xx yy zz as axis label.

For coordinated motion of 100 axis darpa robot humanoid, using the g-code
would not be very reasonable as the robot should have a completely adaptive
motion and very little repetitive behavior  but if a creazy person
would play around i think 5-10 little cpu with lcnc instance runnng and
rt-ethernet bus connected may be the way. But these things seem a Marx
brothers sketch.

bkt

2017-06-15 20:34 GMT+02:00 Chris Albertson :

> You are right.  It takes 12 numbers to specify the location the orientation
> of two arms.  But in a typical robot there will be more than 12 axis.   If
> you look at the stat of the art, there could be 100+ axis, see below.
>
>
> With a typical robot the number of axis may not equal the number of degrees
> used to specify the pose.   For example it is common to specify an X,Y,Z
> and orientation using six numbers but it very well might be there as 7
> degrees (or more) of freedom in the arm.  It other words there would be an
> infinite number of inverse kinematic solutions.   And a controller would
> choose a plan to (say) minimize angular velocity, accelerations or toque
> and to avoid collisions of (say) the elbow hitting nothing while moving the
> hand.Typically you need extra axis to avoid collisions and "gimbal
> locks" and such.
>
> Machine tools are mostly very simple.  We design the tool so all axis are
> square so to move 1 inch in X we simply move the X motor one inch.  But a
> robot's axis are likely NOT square and the axis do not meet at the origen
> and the angles between the axis can change.
>
> Here is a great video of a toy-like 18 axis machine. But the control
> software is very primitive and depends on human in the loop remote control
> for path planning
> https://youtu.be/aH07qF_bhgA?t=9s
>
> MUCH more sophisticated control is used here.  The machine is given only a
> high level goal. "lift and cary the box" and is otherwise self directed
> (notice the q-codes on the box and doors and laser scanner in the head.)
> https://youtu.be/rVlhMGQgDkY?t=1m22s
>
> 
> H ow many axis are running here?
> Between  jack and Sophia, maybe 100+  Jack is the car, sophia is in the
> passenger seat. This is the current state of the art.  (Do NOT over
> estimate sophia, she uses plenty of "dumb tricks" like responding with
> "yes, I agree" when she has no clue what you just said)  In the end this is
> motion control. Many dozens of motors are running and being synchronized
> https://youtu.be/vtX-qVUfCKI?t=40s
>
>
> On Thu, Jun 15, 2017 at 9:52 AM, andy pugh  wrote:
>
> > On 15 June 2017 at 17:36, Chris Albertson 
> > wrote:
> >
> > > It depends on one's approach to a multi arm/leg robot.You can
> > > treat it as two 6 DOF arms or
> > > as one 12 DOF assembly.
> > >
> >
> > I can certainly imagine a 2-arm robot using XYZ and UVW to position two
> > arms. Though then you run out of orientation angles for the UVW tool.
> >
> >
> > --
> > atp
> > "A motorcycle is a bicycle with a pandemonium attachment and is designed
> > for the especial use of mechanical geniuses, daredevils and lunatics."
> > — George Fitch, Atlanta Constitution Newspaper, 1916
> > 
> > --
> > Check out the vibrant tech community on one of the world's most
> > engaging tech sites, Slashdot.org! http://sdm.link/slashdot
> > ___
> > Emc-users mailing list
> > Emc-users@lists.sourceforge.net
> > https://lists.sourceforge.net/lists/listinfo/emc-users
> >
>
>
>
> --
>
> Chris Albertson
> Redondo Beach, California
> 
> --
> Check out the vibrant tech community on one of the world's most
> engaging tech sites, Slashdot.org! http://sdm.link/slashdot
> ___
> Emc-users mailing list
> Emc-users@lists.sourceforge.net
> https://lists.sourceforge.net/lists/listinfo/emc-users
>
--
Check out the vibrant tech community on one of the world's most
engaging tech sites, Slashdot.org! http://sdm.link/slashdot
___
Emc-users mailing list
Emc-users@lists.sourceforge.net
https://lists.sourceforge.net/lists/listinfo/emc-users

Re: [Emc-users] LCNC TED Talk style

[Bas de Bruijn]

>> On 15/06/2017 09:46, Sven Wesley wrote:
>> Jon,
>> 
>> I would love to show a video or photos of the Beagle setup, do you have any?

Here's another one:
>From Klemen Zhivko, plasma pipe cutter. Iirc running from a beaglebone. 
>https://youtu.be/DdLqBqbmIEE

--
Check out the vibrant tech community on one of the world's most
engaging tech sites, Slashdot.org! http://sdm.link/slashdot
___
Emc-users mailing list
Emc-users@lists.sourceforge.net
https://lists.sourceforge.net/lists/listinfo/emc-users

Re: [Emc-users] max joint number

[Chris Albertson]

You are right.  It takes 12 numbers to specify the location the orientation
of two arms.  But in a typical robot there will be more than 12 axis.   If
you look at the stat of the art, there could be 100+ axis, see below.


With a typical robot the number of axis may not equal the number of degrees
used to specify the pose.   For example it is common to specify an X,Y,Z
and orientation using six numbers but it very well might be there as 7
degrees (or more) of freedom in the arm.  It other words there would be an
infinite number of inverse kinematic solutions.   And a controller would
choose a plan to (say) minimize angular velocity, accelerations or toque
and to avoid collisions of (say) the elbow hitting nothing while moving the
hand.Typically you need extra axis to avoid collisions and "gimbal
locks" and such.

Machine tools are mostly very simple.  We design the tool so all axis are
square so to move 1 inch in X we simply move the X motor one inch.  But a
robot's axis are likely NOT square and the axis do not meet at the origen
and the angles between the axis can change.

Here is a great video of a toy-like 18 axis machine. But the control
software is very primitive and depends on human in the loop remote control
for path planning
https://youtu.be/aH07qF_bhgA?t=9s

MUCH more sophisticated control is used here.  The machine is given only a
high level goal. "lift and cary the box" and is otherwise self directed
(notice the q-codes on the box and doors and laser scanner in the head.)
https://youtu.be/rVlhMGQgDkY?t=1m22s


H ow many axis are running here?
Between  jack and Sophia, maybe 100+  Jack is the car, sophia is in the
passenger seat. This is the current state of the art.  (Do NOT over
estimate sophia, she uses plenty of "dumb tricks" like responding with
"yes, I agree" when she has no clue what you just said)  In the end this is
motion control. Many dozens of motors are running and being synchronized
https://youtu.be/vtX-qVUfCKI?t=40s


On Thu, Jun 15, 2017 at 9:52 AM, andy pugh  wrote:

> On 15 June 2017 at 17:36, Chris Albertson 
> wrote:
>
> > It depends on one's approach to a multi arm/leg robot.You can
> > treat it as two 6 DOF arms or
> > as one 12 DOF assembly.
> >
>
> I can certainly imagine a 2-arm robot using XYZ and UVW to position two
> arms. Though then you run out of orientation angles for the UVW tool.
>
>
> --
> atp
> "A motorcycle is a bicycle with a pandemonium attachment and is designed
> for the especial use of mechanical geniuses, daredevils and lunatics."
> — George Fitch, Atlanta Constitution Newspaper, 1916
> 
> --
> Check out the vibrant tech community on one of the world's most
> engaging tech sites, Slashdot.org! http://sdm.link/slashdot
> ___
> Emc-users mailing list
> Emc-users@lists.sourceforge.net
> https://lists.sourceforge.net/lists/listinfo/emc-users
>



-- 

Chris Albertson
Redondo Beach, California
--
Check out the vibrant tech community on one of the world's most
engaging tech sites, Slashdot.org! http://sdm.link/slashdot
___
Emc-users mailing list
Emc-users@lists.sourceforge.net
https://lists.sourceforge.net/lists/listinfo/emc-users

Re: [Emc-users] max joint number

[Valerio Bellizzomi]

On Thu, 2017-06-15 at 09:36 -0700, Chris Albertson wrote:
> On Thu, Jun 15, 2017 at 2:07 AM, andy pugh  wrote:
> > On 15 June 2017 at 08:08, theman whosoldtheworld 
> > wrote:
> >
> >> there are some possibility that the max joint/axis number become more than
> >> 0-8 in future?
> >>
> >
> > It might well increase in the release, but I am not sure how many machines
> > need coordinated movement in more than 9 joints.
> 
> If MK is ever to be useful with robots it could use the ability to
> control a few dozen joints.
> 
> It depends on one's approach to a multi arm/leg robot.You can
> treat it as two 6 DOF arms or
> as one 12 DOF assembly.   Might be easier to assume 12DOF if the
> motions are to be synchronized
> in the same coordinate system.
> 
> Also to be useful the g-code interpret would have to be 100% separated
> from motion
> planning so it could use some other command stream.  Yes g-code is OK for
> pre-programmed movement but robots can decide on their own what to do,
> 
> But for milling machines, hard to see why more than 6 would be needed
> 
> Yes there are reasonable affordable robots with 20 joints.
> 



This robot has arms with 7DOF and legs with 6DOF

http://en.robotis.com/index/product.php?cate_code=111410



--
Check out the vibrant tech community on one of the world's most
engaging tech sites, Slashdot.org! http://sdm.link/slashdot
___
Emc-users mailing list
Emc-users@lists.sourceforge.net
https://lists.sourceforge.net/lists/listinfo/emc-users

Re: [Emc-users] LCNC TED Talk style

[Jon Elson]

On 06/15/2017 09:15 AM, dave wrote:
Can someone find a video of the guy from Finland (vistuers 
???) and his mig welding of pipe T's?

It has been a while and I can't even find an email address.



Viesturs Lacis :
https://www.youtube.com/watch?v=WSQO3IkQ0Lo

Jon

--
Check out the vibrant tech community on one of the world's most
engaging tech sites, Slashdot.org! http://sdm.link/slashdot
___
Emc-users mailing list
Emc-users@lists.sourceforge.net
https://lists.sourceforge.net/lists/listinfo/emc-users

Re: [Emc-users] LCNC TED Talk style

[Jon Elson]

On 06/15/2017 09:15 AM, dave wrote:
Can someone find a video of the guy from Finland (vistuers 
???) and his mig welding of pipe T's?

It has been a while and I can't even find an email address.

Oh, you should contact Matt Shaver.  We worked on an aborted 
project to weld pipes in situ.  If we had the Beagle Bone, I 
think the project would have flown.  I believe he has some 
videos of it working.  He wrote a looped G-code program in 
LinuxCNC that performed all the trig to make the welding 
torch follow the saddle shape of the seam.
It was all under NDAs, but since the project died, and the 
company that wanted to make it no longer exists, the NDAs 
may be considered null.  I have no idea if he will feel free 
to release anything, but it is worth a try.  If you don't 
know how to contact him, I can do it.


Jon

--
Check out the vibrant tech community on one of the world's most
engaging tech sites, Slashdot.org! http://sdm.link/slashdot
___
Emc-users mailing list
Emc-users@lists.sourceforge.net
https://lists.sourceforge.net/lists/listinfo/emc-users

Re: [Emc-users] LCNC TED Talk style

[Jon Elson]

On 06/15/2017 02:46 AM, Sven Wesley wrote:
I would love to show a video or photos of the Beagle 
setup, do you have any?


I guess I could get some pics of my CRAMPS test fixture with 
the Beagle Bone.  Not sure that would really interest anybody.


Jon

--
Check out the vibrant tech community on one of the world's most
engaging tech sites, Slashdot.org! http://sdm.link/slashdot
___
Emc-users mailing list
Emc-users@lists.sourceforge.net
https://lists.sourceforge.net/lists/listinfo/emc-users

Re: [Emc-users] max joint number

[andy pugh]

On 15 June 2017 at 17:36, Chris Albertson  wrote:

> It depends on one's approach to a multi arm/leg robot.You can
> treat it as two 6 DOF arms or
> as one 12 DOF assembly.
>

I can certainly imagine a 2-arm robot using XYZ and UVW to position two
arms. Though then you run out of orientation angles for the UVW tool.


-- 
atp
"A motorcycle is a bicycle with a pandemonium attachment and is designed
for the especial use of mechanical geniuses, daredevils and lunatics."
— George Fitch, Atlanta Constitution Newspaper, 1916
--
Check out the vibrant tech community on one of the world's most
engaging tech sites, Slashdot.org! http://sdm.link/slashdot
___
Emc-users mailing list
Emc-users@lists.sourceforge.net
https://lists.sourceforge.net/lists/listinfo/emc-users

Re: [Emc-users] LCNC TED Talk style

[Jon Elson]

On 06/15/2017 02:46 AM, Sven Wesley wrote:
I would love to show a video or photos of the Beagle 
setup, do you have any?
No, but I believe Charles Steinkuehler does have some 
videos.  He would certainly know.


Can someone please point me the to Robert's trajectory 
planner?
His trajectory planner is certainly in Machinekit, and I 
BELIEVE it has also been put into the latest LinuxCNC distros.
I am not an expert in this area of the code, but I THINK 
this is where it is :

src/emc/tp/blendmath.c
and
spherical_arc.c

tp.c also includes the include files for the above, so these 
functions must be part of the trajectory planner.


If he got a PhD out of it, the CEO for the conference will 
pee his pants of joy.

Yes, it is really good work!

Jon

--
Check out the vibrant tech community on one of the world's most
engaging tech sites, Slashdot.org! http://sdm.link/slashdot
___
Emc-users mailing list
Emc-users@lists.sourceforge.net
https://lists.sourceforge.net/lists/listinfo/emc-users

Re: [Emc-users] max joint number

[Chris Albertson]

On Thu, Jun 15, 2017 at 2:07 AM, andy pugh  wrote:
> On 15 June 2017 at 08:08, theman whosoldtheworld 
> wrote:
>
>> there are some possibility that the max joint/axis number become more than
>> 0-8 in future?
>>
>
> It might well increase in the release, but I am not sure how many machines
> need coordinated movement in more than 9 joints.

If MK is ever to be useful with robots it could use the ability to
control a few dozen joints.

It depends on one's approach to a multi arm/leg robot.You can
treat it as two 6 DOF arms or
as one 12 DOF assembly.   Might be easier to assume 12DOF if the
motions are to be synchronized
in the same coordinate system.

Also to be useful the g-code interpret would have to be 100% separated
from motion
planning so it could use some other command stream.  Yes g-code is OK for
pre-programmed movement but robots can decide on their own what to do,

But for milling machines, hard to see why more than 6 would be needed

Yes there are reasonable affordable robots with 20 joints.

-- 

Chris Albertson
Redondo Beach, California

--
Check out the vibrant tech community on one of the world's most
engaging tech sites, Slashdot.org! http://sdm.link/slashdot
___
Emc-users mailing list
Emc-users@lists.sourceforge.net
https://lists.sourceforge.net/lists/listinfo/emc-users

Re: [Emc-users] LCNC TED Talk style

[andy pugh]

On 15 June 2017 at 15:15, dave  wrote:

> Can  someone find a video of the guy from Finland (vistuers ???)
>

Viesturs lives in Latvia.


> and his mig welding of pipe T's? It has been a while and I can't even find
> an email address.
>

https://www.youtube.com/watch?v=O2oaBtkpNpE

-- 
atp
"A motorcycle is a bicycle with a pandemonium attachment and is designed
for the especial use of mechanical geniuses, daredevils and lunatics."
— George Fitch, Atlanta Constitution Newspaper, 1916
--
Check out the vibrant tech community on one of the world's most
engaging tech sites, Slashdot.org! http://sdm.link/slashdot
___
Emc-users mailing list
Emc-users@lists.sourceforge.net
https://lists.sourceforge.net/lists/listinfo/emc-users

Re: [Emc-users] LCNC TED Talk style

[Nicklas Karlsson]

> On 06/14/2017 11:25 AM, Sven Wesley wrote:
> > RUGBOT!!! :D That is so nerdy I must show it!
> > And of course Chris' jukebox for the finale. :)
> > Anyone with a Raspberry or a Beagle? Would be perfect to show the wide
> > range. Think Raspberry CNC and the Stuart's monster.
> I manufacture the CRAMPS board that adds 6 stepper drivers 
> and some heater FETs to the Beagle Bone for 3D printer 
> setups.  All the brilliant stuff was done by Charles 
> Steinkuehler, especially mating the step generator and PWM 
> functions running on the Bone's PRU processor to a real-time 
> HAL component that runs on the ARM.

I also have drivers on an ARM processor but it is located together with the 
power electronics on a separate card. Ordinary motor and stepper I have done 
but are in the process redesigning the card and are still not happy with the 
software. Real time computer I am still thinking about but have seen BBB, 
raspberry and Cort-M*.

> > What is the most complex code in the code base. I want to point out that
> > this really is some hardcore stuff. The people I'm talking to are really
> > good programmers so I want to give them some weird stuff. :)
> >
> I'm not sure of complexity, but Robert Ellenberg's new 
> trajectory planner is VERY well thought out (Hell he got a 
> PhD out of it!)  and is one of the biggest improvements in 
> LinuxCNC is the last few years.  He gave a talk at one of 
> the Machinekit meets describing all the intricacies, and I 
> was barely able to follow the general concept.

Amazing.


--
Check out the vibrant tech community on one of the world's most
engaging tech sites, Slashdot.org! http://sdm.link/slashdot
___
Emc-users mailing list
Emc-users@lists.sourceforge.net
https://lists.sourceforge.net/lists/listinfo/emc-users

Re: [Emc-users] LCNC TED Talk style

[dave]

Can  someone find a video of the guy from Finland (vistuers ???) and his 
mig welding of pipe T's?

It has been a while and I can't even find an email address.

Dave



--
Check out the vibrant tech community on one of the world's most
engaging tech sites, Slashdot.org! http://sdm.link/slashdot
___
Emc-users mailing list
Emc-users@lists.sourceforge.net
https://lists.sourceforge.net/lists/listinfo/emc-users

Re: [Emc-users] LCNC TED Talk style

[Florian Rist]

Hi Sven,
here is short video of a art project of one of my students, Maria 
Manske:


  https://vimeo.com/148933185

The six axes are controlled by a BBB and LinuxCNC.

See you
Florian





--
Check out the vibrant tech community on one of the world's most
engaging tech sites, Slashdot.org! http://sdm.link/slashdot
___
Emc-users mailing list
Emc-users@lists.sourceforge.net
https://lists.sourceforge.net/lists/listinfo/emc-users

Re: [Emc-users] max joint number

[Bertho Stultiens]

On 06/15/2017 03:41 PM, Bertho Stultiens wrote:
> On 06/15/2017 03:02 PM, andy pugh wrote:
>>> G00 1X1. 2X1.0200 3X14.950 4X10.9530...
>>> something in this fashion comes to mind first
>>> there may not be a YZABCIJK representation - just 1X through 15X
>> That doesn't work with a conventional G-code interpreter because spaces are
>> ignored.
>> Looks like
>> G1 X1.2 X1,02003 X14.9504 X10.935 (Error, multiple X words in one block)
>> XX YY ZZ as extra axes would be more backwards-compatible.
> 
> Why would you want to adhere to gcode format when you need more than 9
> axes? The backwards compatibility is broken the moment you try to
> address axis 10 or above. All generator tools will be lacking support
> when trying to use more than 9 axes and need to be fixed anyway.
> 
> It would be more prudent to take a step back and to abstract gcode to a
> higher (modern) level. There would be a 1:1 backwards mapping as long as
> you use up to 9 axes, but no longer when you use more.

However (to answer myself), if one would insist on gcode compatibility,
then you can make an alternative setup if you use at most 9 axes at one
time.

You can use custom M-codes to remap axes on the fly. Then you have 9
active axes mapped from any number you need. The limitation is that you
can only move 9 axes simultaneously.


-- 
Greetings Bertho

(disclaimers are disclaimed)

--
Check out the vibrant tech community on one of the world's most
engaging tech sites, Slashdot.org! http://sdm.link/slashdot
___
Emc-users mailing list
Emc-users@lists.sourceforge.net
https://lists.sourceforge.net/lists/listinfo/emc-users

Re: [Emc-users] max joint number

[Bertho Stultiens]

On 06/15/2017 03:02 PM, andy pugh wrote:
>> G00 1X1. 2X1.0200 3X14.950 4X10.9530...
>> something in this fashion comes to mind first
>> there may not be a YZABCIJK representation - just 1X through 15X
> 
> That doesn't work with a conventional G-code interpreter because spaces are
> ignored.
> Looks like
> G1 X1.2 X1,02003 X14.9504 X10.935 (Error, multiple X words in one block)
> 
> XX YY ZZ as extra axes would be more backwards-compatible.

Why would you want to adhere to gcode format when you need more than 9
axes? The backwards compatibility is broken the moment you try to
address axis 10 or above. All generator tools will be lacking support
when trying to use more than 9 axes and need to be fixed anyway.

It would be more prudent to take a step back and to abstract gcode to a
higher (modern) level. There would be a 1:1 backwards mapping as long as
you use up to 9 axes, but no longer when you use more.


-- 
Greetings Bertho

(disclaimers are disclaimed)

--
Check out the vibrant tech community on one of the world's most
engaging tech sites, Slashdot.org! http://sdm.link/slashdot
___
Emc-users mailing list
Emc-users@lists.sourceforge.net
https://lists.sourceforge.net/lists/listinfo/emc-users

Re: [Emc-users] max joint number

[andy pugh]

On 15 June 2017 at 13:53, Stuart Stevenson  wrote:

>
> G00 1X1. 2X1.0200 3X14.950 4X10.9530...
>
> something in this fashion comes to mind first
>
> there may not be a YZABCIJK representation - just 1X through 15X


That doesn't work with a conventional G-code interpreter because spaces are
ignored.

Looks like

G1 X1.2 X1,02003 X14.9504 X10.935 (Error, multiple X words in one block)

XX YY ZZ as extra axes would be more backwards-compatible.

-- 
atp
"A motorcycle is a bicycle with a pandemonium attachment and is designed
for the especial use of mechanical geniuses, daredevils and lunatics."
— George Fitch, Atlanta Constitution Newspaper, 1916
--
Check out the vibrant tech community on one of the world's most
engaging tech sites, Slashdot.org! http://sdm.link/slashdot
___
Emc-users mailing list
Emc-users@lists.sourceforge.net
https://lists.sourceforge.net/lists/listinfo/emc-users

Re: [Emc-users] max joint number

[andy pugh]

On 15 June 2017 at 13:46, Stuart Stevenson  wrote:

> G Code is just a symbolic way to represent something in a human readable
> manner.
>

Indeed, and if we had a STEP_NC interpreter then perhaps we would need to
also consider adding to the number of axes.


-- 
atp
"A motorcycle is a bicycle with a pandemonium attachment and is designed
for the especial use of mechanical geniuses, daredevils and lunatics."
— George Fitch, Atlanta Constitution Newspaper, 1916
--
Check out the vibrant tech community on one of the world's most
engaging tech sites, Slashdot.org! http://sdm.link/slashdot
___
Emc-users mailing list
Emc-users@lists.sourceforge.net
https://lists.sourceforge.net/lists/listinfo/emc-users

Re: [Emc-users] max joint number

[Stuart Stevenson]

one fifteen axis whatever(machine?)

G00 1X1. 2X1.0200 3X14.950 4X10.9530...

something in this fashion comes to mind first

there may not be a YZABCIJK representation - just 1X through 15X

For the human : big labels on each axis or 3D glasses to see the labels
projected. At some point the human will not care about each axis label. The
human should worry more about the process result than the method.




On Thu, Jun 15, 2017 at 7:46 AM, Stuart Stevenson  wrote:

> G Code is just a symbolic way to represent something in a human readable
> manner.
> Another method could be used and would seem difficult for the humans to
> comprehend.
>
> On Thu, Jun 15, 2017 at 4:07 AM, andy pugh  wrote:
>
>> On 15 June 2017 at 08:08, theman whosoldtheworld 
>> wrote:
>>
>> > there are some possibility that the max joint/axis number become more
>> than
>> > 0-8 in future?
>> >
>>
>> It might well increase in the release, but I am not sure how many machines
>> need coordinated movement in more than 9 joints.
>> (and uncoordinated movements are already possible using HAL components
>> such
>> as stepgen and PID/Limit3)
>>
>> You need to increase EMCMOT_MAX_JOINTS:
>> https://github.com/LinuxCNC/linuxcnc/blob/af15a4d90e1d51d530
>> 9db65fe1c9511e486df411/src/emc/motion/emcmotcfg.h#L23
>> then recompile.
>>
>> trivkins appears to already support more than 9 joints:
>> https://github.com/LinuxCNC/linuxcnc/blob/master/src/emc/kin
>> ematics/trivkins.c
>>
>> I can't think of many applications, possibly a serial/parallel "snakebot"
>> based on a stack of Stewart platforms?
>>
>> What is more intractable is getting more _axes_ as there are no G-code
>> letters left spare.
>>
>> --
>> atp
>> "A motorcycle is a bicycle with a pandemonium attachment and is designed
>> for the especial use of mechanical geniuses, daredevils and lunatics."
>> — George Fitch, Atlanta Constitution Newspaper, 1916
>> 
>> --
>> Check out the vibrant tech community on one of the world's most
>> engaging tech sites, Slashdot.org! http://sdm.link/slashdot
>> ___
>> Emc-users mailing list
>> Emc-users@lists.sourceforge.net
>> https://lists.sourceforge.net/lists/listinfo/emc-users
>>
>
>
>
> --
> Addressee is the intended audience.
> If you are not the addressee then my consent is not given for you to read
> this email furthermore it is my wish you would close this without saving or
> reading, and cease and desist from saving or opening my private
> correspondence.
> Thank you for honoring my wish.
>
>


-- 
Addressee is the intended audience.
If you are not the addressee then my consent is not given for you to read
this email furthermore it is my wish you would close this without saving or
reading, and cease and desist from saving or opening my private
correspondence.
Thank you for honoring my wish.
--
Check out the vibrant tech community on one of the world's most
engaging tech sites, Slashdot.org! http://sdm.link/slashdot
___
Emc-users mailing list
Emc-users@lists.sourceforge.net
https://lists.sourceforge.net/lists/listinfo/emc-users

Re: [Emc-users] max joint number

[Stuart Stevenson]

G Code is just a symbolic way to represent something in a human readable
manner.
Another method could be used and would seem difficult for the humans to
comprehend.

On Thu, Jun 15, 2017 at 4:07 AM, andy pugh  wrote:

> On 15 June 2017 at 08:08, theman whosoldtheworld 
> wrote:
>
> > there are some possibility that the max joint/axis number become more
> than
> > 0-8 in future?
> >
>
> It might well increase in the release, but I am not sure how many machines
> need coordinated movement in more than 9 joints.
> (and uncoordinated movements are already possible using HAL components such
> as stepgen and PID/Limit3)
>
> You need to increase EMCMOT_MAX_JOINTS:
> https://github.com/LinuxCNC/linuxcnc/blob/af15a4d90e1d51d5309db65fe1c951
> 1e486df411/src/emc/motion/emcmotcfg.h#L23
> then recompile.
>
> trivkins appears to already support more than 9 joints:
> https://github.com/LinuxCNC/linuxcnc/blob/master/src/emc/
> kinematics/trivkins.c
>
> I can't think of many applications, possibly a serial/parallel "snakebot"
> based on a stack of Stewart platforms?
>
> What is more intractable is getting more _axes_ as there are no G-code
> letters left spare.
>
> --
> atp
> "A motorcycle is a bicycle with a pandemonium attachment and is designed
> for the especial use of mechanical geniuses, daredevils and lunatics."
> — George Fitch, Atlanta Constitution Newspaper, 1916
> 
> --
> Check out the vibrant tech community on one of the world's most
> engaging tech sites, Slashdot.org! http://sdm.link/slashdot
> ___
> Emc-users mailing list
> Emc-users@lists.sourceforge.net
> https://lists.sourceforge.net/lists/listinfo/emc-users
>



-- 
Addressee is the intended audience.
If you are not the addressee then my consent is not given for you to read
this email furthermore it is my wish you would close this without saving or
reading, and cease and desist from saving or opening my private
correspondence.
Thank you for honoring my wish.
--
Check out the vibrant tech community on one of the world's most
engaging tech sites, Slashdot.org! http://sdm.link/slashdot
___
Emc-users mailing list
Emc-users@lists.sourceforge.net
https://lists.sourceforge.net/lists/listinfo/emc-users

Re: [Emc-users] LCNC TED Talk style

[andy pugh]

On 15 June 2017 at 08:46, Sven Wesley  wrote:

> Can someone please point me the to Robert's trajectory planner?


There is a Youtube/Powerpoint here
https://www.youtube.com/watch?v=412N5A-N8Fc

-- 
atp
"A motorcycle is a bicycle with a pandemonium attachment and is designed
for the especial use of mechanical geniuses, daredevils and lunatics."
— George Fitch, Atlanta Constitution Newspaper, 1916
--
Check out the vibrant tech community on one of the world's most
engaging tech sites, Slashdot.org! http://sdm.link/slashdot
___
Emc-users mailing list
Emc-users@lists.sourceforge.net
https://lists.sourceforge.net/lists/listinfo/emc-users

Re: [Emc-users] max joint number

[andy pugh]

On 15 June 2017 at 08:08, theman whosoldtheworld 
wrote:

> there are some possibility that the max joint/axis number become more than
> 0-8 in future?
>

It might well increase in the release, but I am not sure how many machines
need coordinated movement in more than 9 joints.
(and uncoordinated movements are already possible using HAL components such
as stepgen and PID/Limit3)

You need to increase EMCMOT_MAX_JOINTS:
https://github.com/LinuxCNC/linuxcnc/blob/af15a4d90e1d51d5309db65fe1c9511e486df411/src/emc/motion/emcmotcfg.h#L23
then recompile.

trivkins appears to already support more than 9 joints:
https://github.com/LinuxCNC/linuxcnc/blob/master/src/emc/kinematics/trivkins.c

I can't think of many applications, possibly a serial/parallel "snakebot"
based on a stack of Stewart platforms?

What is more intractable is getting more _axes_ as there are no G-code
letters left spare.

-- 
atp
"A motorcycle is a bicycle with a pandemonium attachment and is designed
for the especial use of mechanical geniuses, daredevils and lunatics."
— George Fitch, Atlanta Constitution Newspaper, 1916
--
Check out the vibrant tech community on one of the world's most
engaging tech sites, Slashdot.org! http://sdm.link/slashdot
___
Emc-users mailing list
Emc-users@lists.sourceforge.net
https://lists.sourceforge.net/lists/listinfo/emc-users

Re: [Emc-users] LCNC TED Talk style

[Dave Caroline]

oops missed a link

http://www.archivist.info/cnc/wormtest/

--
Check out the vibrant tech community on one of the world's most
engaging tech sites, Slashdot.org! http://sdm.link/slashdot
___
Emc-users mailing list
Emc-users@lists.sourceforge.net
https://lists.sourceforge.net/lists/listinfo/emc-users

Re: [Emc-users] LCNC TED Talk style

[Dave Caroline]

There are some odd uses that dont lend themselves to video
I have used Linuxcnc for Worm division accuracy testing
http://www.collection.archivist.info/searchv13.php?searchstr=pd+wormtest

another used it for antenna measuring
http://emcar.sourceforge.net/

Dave Caroline

--
Check out the vibrant tech community on one of the world's most
engaging tech sites, Slashdot.org! http://sdm.link/slashdot
___
Emc-users mailing list
Emc-users@lists.sourceforge.net
https://lists.sourceforge.net/lists/listinfo/emc-users

Re: [Emc-users] LCNC TED Talk style

[Sven Wesley]

2017-06-15 3:21 GMT+02:00 Jon Elson :

> On 06/14/2017 11:25 AM, Sven Wesley wrote:
>
>> RUGBOT!!! :D That is so nerdy I must show it!
>> And of course Chris' jukebox for the finale. :)
>> Anyone with a Raspberry or a Beagle? Would be perfect to show the wide
>> range. Think Raspberry CNC and the Stuart's monster.
>>
> I manufacture the CRAMPS board that adds 6 stepper drivers and some heater
> FETs to the Beagle Bone for 3D printer setups.  All the brilliant stuff was
> done by Charles Steinkuehler, especially mating the step generator and PWM
> functions running on the Bone's PRU processor to a real-time HAL component
> that runs on the ARM.
>
>> What is the most complex code in the code base. I want to point out that
>> this really is some hardcore stuff. The people I'm talking to are really
>> good programmers so I want to give them some weird stuff. :)
>>
>> I'm not sure of complexity, but Robert Ellenberg's new trajectory planner
> is VERY well thought out (Hell he got a PhD out of it!)  and is one of the
> biggest improvements in LinuxCNC is the last few years.  He gave a talk at
> one of the Machinekit meets describing all the intricacies, and I was
> barely able to follow the general concept.
>
>
Jon,

I would love to show a video or photos of the Beagle setup, do you have any?

Can someone please point me the to Robert's trajectory planner? If he got a
PhD out of it, the CEO for the conference will pee his pants of joy.

/Sven
--
Check out the vibrant tech community on one of the world's most
engaging tech sites, Slashdot.org! http://sdm.link/slashdot
___
Emc-users mailing list
Emc-users@lists.sourceforge.net
https://lists.sourceforge.net/lists/listinfo/emc-users

[Emc-users] max joint number

[theman whosoldtheworld]

there are some possibility that the max joint/axis number become more than
0-8 in future?
(0-17 / 0-26 )
Actually if I well undertand is possible use makinekit fork with multiple
machinekit instance on same pc ... so same pc more than 0-8 joint ... but I
investigate other possbility.

bkt
--
Check out the vibrant tech community on one of the world's most
engaging tech sites, Slashdot.org! http://sdm.link/slashdot
___
Emc-users mailing list
Emc-users@lists.sourceforge.net
https://lists.sourceforge.net/lists/listinfo/emc-users