The problem you report is fixed in CVS TRUNK:
http://cvs.linuxcnc.org/cvs/emc2/src/rtapi/rtai_rtapi.c.diff?r1=1.34;r2=1.35
this patch should apply cleanly to the 2.1 branch.
Jeff
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Attached, configure make logs for emc2-2.1.7 released on July 30th.
On Sat, Aug 04, 2007 at 07:46:38AM -0400, Jack Ensor wrote:
Thanks, Paul. I already downloaded 2.1.7 via the update manager a day
or so ago. What I don't understand is your file is only about 8K and
when I
On Mon, Aug 06, 2007 at 08:03:23PM -0700, richard harris wrote:
Perhaps this is why Hardinge/Bandit cost so much half the wires go
nowhere and and there to confuse you. Mission Accomplished.
This is quite funny. Thanks for sharing your story.
Jeff
In emc2, these are known as parameters. The # character is used to
set them or use their values.
A parameter can be set with gcode like
#43=4000
and used like this:
X10 Y10 F#43
Math is supported:
#43=[sin[45] * 300]
and can be used anywhere a number would be used:
X10 Y10
On Wed, Aug 15, 2007 at 03:16:35PM +0200, Sven Mueller wrote:
Ask user to define minimum and maximum X, Y and Z positions by moving
the tooltip to the relevant positions manually or by entering the values
numerically. Then use a procedural (possibly recursive) approach to scan
the work pieces
The change in emc2.2 will be to allow any number of counts per index, so
long as the maximum number of counts per servo cycle is within the
permitted range. I made this change for sam and his 10160-count
encoder, but I am not sure he's actually tested it with the updated
version.
Jeff
When emc shows an error message with a line number, it refers to the
physical line number in the file, not an O- or N-number.
In emc 2.1, parameters are numbers, not letters. So, for instance, you
can't write
#D=1.4
you must write
#7=1.4
and remember that later on, #7 refers to the o.d.
I spotted several more errors in your program.
#10 = 1.4( o.d )
...
#22 = 90(final arc angle)
Parameters up to 30 are used for subroutine arguments. Use parameters
above 30 for global variables:
#40 = 1.4( o.d )
...
#52 = 90(final arc angle)
o200
Thanks -- I imagine this will be helpful to anyone with a similar
system.
the only thing that comes to mind is that the time emc spends on the Z
motion had better be long enough for the solenoid to completely lower --
does this take long on your machine, or does it snap right down to the
right
On Fri, Aug 17, 2007 at 11:15:29AM +0100, [EMAIL PROTECTED] wrote:
Just a couple of points I'm not completely clear on - in the
above example, are line numbers needed on every line of the
subroutine or just at the ends?
O-numbers are required on lines where the flow control words such as
On Fri, Aug 17, 2007 at 05:31:38PM +0100, [EMAIL PROTECTED] wrote:
N0300 do (first cut of pinion leaves)
With do you need an O-number, and the matching O-number at the while
Jeff
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That's right, the named parameters and named O-words are in the
version that will be known as 2.2, not the current stable version.
Anyone can download, compile, and use the development version, but it
may not be a task for linux beginners:
AXIS can automatically execute a filter program when loading a
machinable file. You can also use the NML messages for issuing MDI
commands to feed your program in line-by-line. (I just verified that,
at least in the development version of emc 2, this doesn't kill blending
altogether, though it's
I glanced through that PDF and the numbers, formulas, and circuits look
pretty typical for unregulated linear power supplies.
Unregulated linear power supplies are considered the best kind for
running steppers with chopper or current limiting stepper drivers.
The power supply is simple, though
In emc, there are lots of ways to interact with the running system
besides using gcode.
These two ways are called NML and HAL. Using NML, for instance, any
userspace program can retrieve the current position of the machine and
lots of other details about it. Any information displayed in the
On Sun, Aug 19, 2007 at 02:41:55PM -0500, John Thornton wrote:
Is there a way to change the file open dialog in Axis to see .ngc
files without regard to case?
In the inifile section [FILTER], add a line that reads
PROGRAM_EXTENSION = .[nN][gG][cC] rs274ngc gcode file
you can add any other
You will need to make sure the power dissipated within the '317 is in
the safe operating area -- Power dissipated is (Vin - Vout) * Ilim and
becomes unmanagably large pretty quickly. You will certainly not be
able to follow the guideline of 20x faceplate voltage from geckodrive
documentation.
In one of the other sample configurations (sim/axis), the [FILTER]
section looks like this:
[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
PROGRAM_EXTENSION = .py Python Script
png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
[TRAJ]AXES should probably be set to 8. Here's the explanation from the
documentation:
One more than the number of the highest joint number in the system.
For an XYZ machine, the joints are numbered 0, 1 and 2; in this case
AXES should be 3. For an XYUV machine using ``trivial
On Mon, Aug 20, 2007 at 02:59:39PM -0500, Jeff Epler wrote:
[TRAJ]AXES should probably be set to 8. Here's the explanation from the
documentation:
One more than the number of the highest joint number in the system.
For an XYZ machine, the joints are numbered 0, 1 and 2; in this case
On Mon, Aug 20, 2007 at 03:03:27PM -0600, Ryan Hulsker wrote:
Ok, thanks for your help (Chris too), I seem to have it working now.
Yay! I am excited to hear it. If you want to, create a page on our
wiki (wiki.linuxcnc.org, follow instructions on page BasicSteps to be
able to add edit pages)
G4 delays in gcode and sleep delays in shell scripts are both
non-realtime. The delay you get will always be at least .2 seconds, but
may be longer.
Jeff
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Still grepping
On Wed, Aug 22, 2007 at 02:35:03AM +0200, Michel Gouget wrote:
Is it difficult, very difficult or extremely difficult to add an NML+HAL
library to python?
It's already there -- it's the basis for such neat things as AXIS, the
hal_input userspace driver, and so on.
Help on module hal:
NAME
On Thu, Aug 23, 2007 at 10:40:02AM -0600, Sebastian Kuzminsky wrote:
About the circuit, what is the purpose of resistors R1-R4? They look like
pull-up resistors for the encoder outputs.
The encoder I had used OC drivers, so the resistors were the recommended
circuit. If your encoder has
To use the puma kinematics, you need to compile the complete development
version of emc2, not just pull a few files from the development version
and add them to your installed version.
You can compile the development version without disturbing any of the
files from your installed version.
It is part of the emc2-dev package
Jeff
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On Sat, Aug 25, 2007 at 05:23:52PM -0400, Stephen Wille Padnos wrote:
Kirk Wallace wrote:
I did a find on my Ubuntu 6.06/EMC 2.1.7 install and can't find comp. I
would like to use it to compile a new component. Thanks.
I think you need a full checkout to use comp. Comp is really a
On Wed, Aug 29, 2007 at 10:50:02AM -0600, Sebastian Kuzminsky wrote:
I'm looking at the etch-servo config in emc2-trunk, and I'm not seeing
pwmgen.*.pwm-freq getting set. Does that mean it's left at 0, and pwmgen
does PDM?
Yes, I think that's true.
Because the on- and off- times are long (1
Yet again you had me scratching my head.
state is a name used internally by comp, so you get weird compile
errors when you also use it for a parameter name. I changed the
name to state_ through the whole file, and also fixed a few other
typos. You can find my corrected version below.
Jeff
On Mon, Sep 03, 2007 at 10:54:19AM -0400, Jack Ensor wrote:
Where is Touchoff data stored?
In the rs274 parameters set aside for this purpose.
http://linuxcnc.org/docs/2.1/html/gcode/main/#sub:Parameters
axis touch off simply issues a 'G10 L2' command as if in MDI mode.
Jeff
On Wed, Sep 05, 2007 at 09:45:49PM +0200, Gerhard Pircher wrote:
The Mesa card looks interesting. Do you use it with the SoftDMC Digital
Motion Control Firmware?
With emc2, the hostmot firmware is used.
With hostmot, emc sends velocity commands and reads encoder counts,
performing closed-loop
I'm using a xylotex 3-axis board. I'm pretty happy with it so far. For
whatever reason, my machine moves reliably at higher speeds (70ipm
instead of 40ipm) in half-step mode than 1/8 step mode, though most
people seem to prefer using the board in 1/8 step configuration.
The connections are very
'comp' is the tool for compiling HAL components that are implemented in
a single .c file. Kinematics modules are one kind of HAL component.
If you are using the package version, install emc2-dev and
build-essential packages using Package Manager or the commandline.
Then, use 'comp' to compile
There are a bunch of different things that affect the relationship
between machine coordinates and gcode coordinates.
G5x coordinate systems:
At any time, one G5x coordinate system is in effect. Normally the
G54 coordinate is in effect at emc startup and after readahead
reaches M2.
Another user has reported a similar problem, but I've never been able to
reproduce it on my machine. And that means I've been unable to try
fixing it. :(
Jeff
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On Wed, Sep 19, 2007 at 07:17:31AM +1000, AKSYS Tech Pty Ltd wrote:
Hi,
I have been playing around with the different user interfaces for EMC
and have a couple of questions. I was initially interested in using the
MINI interface but I would like to be able to backplot my code before
actually
On Wed, Sep 19, 2007 at 08:39:00AM -0500, Andre' Blanchard wrote:
AXIS doesn't have a tool-table editor built in. In the upcoming EMC 2.2
it will be possible to re-load the tool table and open an external tool
editor (such as the gedit text editor) from the menu in AXIS.
Is that going to be
On Wed, Sep 19, 2007 at 11:06:40AM -0400, Ed wrote:
Is there a timeframe?
No. This spring I was saying this summer, but now I'm saying
hopefully this fall.
Jeff
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Indeed -- I don't have such a card to test. (I didn't read your earlier
message closely enough and missed the fact that this is merely a card
similar to the axiom card)
I think I understand why the original configuration outb()s are written
in that order: In the new order, the outputs are
Put this line in the file ~/.axisrc, with no whitespace at the beginning
of the line:
bind_axis(Right, Left, 0)
Create the file ~/.axisrc if it doesn't exist yet.
Jeff
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On Tue, Oct 02, 2007 at 02:20:26PM -0500, Sam Sokolik wrote:
the only other thing I can think of is that the max step/sec is a bit on the
low side. But I don't know a good safe step rate to put on paper. (~20k/s
w/Parport) - expecially because 2.2 will have doublefreq which will increase
By their nature, anyone should add something to the wiki that he feels
is of value.
For text edits, a history is preserved; for uploaded files this is not
the case. So if you're not entirely sure your new spreadsheet is an
improvement, upload it with a different filename and add a descriptive
The emc official packages, and the EMC2 CD are Ubuntu 6.06. These
packages cannot be installed on Ubuntu 7.04.
If you want easy you will want to reinstall from the CD, either
replacing 7.04 or as a dual-boot setup.
Jeff
-
I hope that 2.2 will be out this calendar year.
When it is available, you'll have a choice of upgrading to it on your
existing installation (though not if it's Ubuntu 5.10), or installing
fresh from a new Live CD image that will be released at about the same
time.
Jeff
Make sure you issue a nonzero spindle speed, even if your spindle has no
speed control:
M3 S1000
Jeff
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Still grepping through log files to find problems? Stop.
Now Search
emc 1.2.0 is an old and no longer developed version of emc. The current
version of emc2 doesn't have any file named smallmath.o.
the contents of smallmath.o are uninteresting:
00cc W acos
00cc T __acos
00c0 W atan
00c0 T __atan
0050 W cos
0050 T __cos
T
On Mon, Oct 15, 2007 at 08:31:03AM -0500, John Thornton wrote:
I'm trying to restore a saved HAL file in the terminal window.
following the HAL TUTORIAL Chap 2.3.6
I get the following error after issuing this command:
linux:~$ halcmd -f saved.hal
RAPTI: ERROR: could not open shared memory
emc's motion controller uses the following HAL pins during the G33
spindle synchronized move and G76 threading canned cycle:
motion.spindle-revs
motion.spindle-index-enable
These must behave like the canonical encoder interface pins 'position'
and 'index-enable', described here:
It may be useful to refer to the docs, which I believe are up to date
http://linuxcnc.org/docs/devel/html/gcode_main.html#sec:G33,-G33.1:-Spindle-Synchronized
.. but perhaps this conversation can help improve the documentation.
On Mon, Oct 15, 2007 at 11:33:27AM -0700, Kirk Wallace wrote:
- Can
The latest version of the Live CD includes either 2.1.6 or 2.1.7, I'm
not sure which.
There are several ways to find the version of emc:
* If you use AXIS as your user interface, Help About shows the version
number
* If you start emc from the terminal window, the version is printed
* If you
You must addf match8.0 partest_thread or its outputs will never be
updated.
Jeff
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AXIS uses an logarithmic relationship between the position of the jog
slider and the jog speed in inches per minute. At the left hand side,
the jog speeds are fairly close together (e.g., .001 and .002 in/min)
and at the right hand side the speeds are further apart (e.g., 296 and
300 in/min).
Here's a document which shows what configuration changes are needed to
go from emc2.0.x to emc 2.1.7:
http://wiki.linuxcnc.org/cgi-bin/emcinfo.pl?UPDATING
I don't think there's any document that lists changes in configuration
files from the very old TESTING releases that came before 2.0.0.
Jeff
emc uses this equation to get pwmRate from dacRate:
pCard16-pwmRate = dacRate * 65536 / 1000 * 1024 / 33000;
so the 33MHz SYSCLK is hardcoded at the moment.
That makes the max usable Hz value 32226, giving a pwmRate of 65534
and an actual rate of 32225.79Hz. I've updated the documentation to
the classic ladder in emc can't communicate directly to modbus -- it
only communicates to HAL pins. That option should not appear.
Jeff
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Thanks for the offer. I have one, but it's not in a working PC at the
moment.
Jeff
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EMC 2.1.x is unlikely to work on Ubuntu 7.10. However, the development
version has been improved in various ways for compatability with newer
versions of Ubuntu.
On Ubuntu 7.10 the default amount of locked memory for regular users
is too low. You can fix that problem by adding the line
hard
On Mon, Oct 29, 2007 at 09:58:30AM -0500, Cecil Thomas wrote:
I guess I'm looking for the reverse directory for the .var file.
Please see:
http://www.linuxcnc.org/docview/2.2/html/gcode_main.html#sub:Parameters
-
This
A system call trace (produced by using strace) or a backtrace at the
time of the segmentation fault (produced using gdb) would be helpful
in pinpointing the location of the problem.
You can find information how to use these utilities on many pages on the
internet.
Jeff
The following emc2.rules file, which is installed when you install a
.deb of emc2 (but not by 'make install), makes the rtai_shm device
accessible to all users:
~/emc2-src/debian/extras-Ubuntu-6.06/etc/udev/rules.d$ cat emc2.rules
KERNEL==RTAI_SHM SYMLINK==rtai_shm MODE=0666
Jeff
These items would be in .hal files.
Usually the default values (1 BASE_PERIOD) are OK for most stepper
drivers, so they are omitted from the default configuration files.
If you add these lines, they would be of the form
setp stepgen.0.steplen VALUE
where VALUE is the number of BASE_PERIODs
For source code exploration there are a few more things that it's nice
to be aware of:
* lxr web page, which allows you to see definition and use of any
identifier, http://cvs.linuxcnc.org/lxr
* tags, search for the definition of any identifier from vi or emacs
(make tags target in src to
On Sun, Nov 04, 2007 at 01:20:34PM +0100, [EMAIL PROTECTED] wrote:
Hi
I have a milling machine here which i want to control with emc. Fo the
first tests im using the normal parallel port adapter. I'm, however,
afraid of loosing steps on my stepping motors so im planing to use some
quadratur
I'm pleased to announce the first release of the EMC 2.2 series, EMC
2.2.0. After about a year of development, many new features are
available in this release. The documentation (particularly the HTML
documentation) is greatly improved, and a partial translation of the
documentation into the
On Mon, Nov 05, 2007 at 10:02:28AM -0700, Andrew Ayre wrote:
Jeff,
Which version of Ubuntu will the live CD use?
For now, the Live CD will remain based on Ubuntu 6.06 LTS Dapper
Drake.
Jeff
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On Wed, Nov 07, 2007 at 07:37:35PM +0100, Karl-Heinz Glahe wrote:
Hello,
after upgrading from 2.1.7 to 2.2.0 (via synaptic packet manager, as
recommended in the wiki) i tried the puma example which leads to this:
This problem will be fixed in 2.2.1.
Jeff
with the
new entries used by v2.2 instead of issing weird errors at startup
* fix problem with probe_parport on certain machines
* fix problem with non-integer INTRO_TIME
Jeff Epler
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Hi. Thanks for documenting this process, it looks pretty similar to
what I've done.
I am curious why you chose this option:
Loadable module support Module unloading (N)
With this option, I would have expected that emc can only be run once
per reboot, a pretty nasty limitation.
Did your
You configure a probe just like almost everything else in emc: add the
right lines to a .hal file. In this case, you will be writing a line to
connect a signal to the pin motion.probe-input. For example, if the
probe input is on parport pin 26*, you could write
net probe parport.0.pin-26-in
If you upgrade to emc 2.2.1, there's a new menu option File Save
gcode as... which does what you want.
In 2.1.6, if you want to save gcode, run image-to-gcode at the
commandline and redirect to a file:
image-to-gcode mumble.png mumble.ngc
Jeff
If you have an arc that doesn't preview right, please post the code so
that it can be fixed in a future release.
If you can trim it down to just a few lines of g-code, just include it
in a message. Otherwise, e-mail me privately and attach the whole file
indicating where the problem is.
Thanks,
On Linux, modifying system files requires the use of administrator
(root) privileges. I would do an activity like this in the terminal
window with sudo:
sudo cp rtai_smp.ko /usr/realtime-2.6.15-magma/modules/rtai_smi.ko
(assuming you have already changed to the directory where you compiled
or
apt supports offline operation with the --print-uris option. You can
find various instructions on how to do this, though I have never tried
it myself.
e.g.,
http://olympus.het.brown.edu/cgi-bin/dwww?type=text/plainlocation=/usr/share/doc/apt-doc/offline.text.gz
Jeff
Thanks for your report. I'll look into this and hopefully get it fixed
for the next release, emc 2.2.2.
Thanks to reports from other users, the following stepconf bugs will
also be fixed in the next release:
* fix stepconf 'charge pump' pin
* fix stepconf 'external estop' pin
* fix homing
I think Python is a fine language for this. In the emc sample files,
there is a program holecircle.py uses python and tkinter to prompt the
user for the required values and show a schematic preview of the result.
Two thirds of holecircle.py are generic code for prompting the user that
should be
Can you also show me the tool table entries you used?
Jeff
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http://clk.atdmt.com/MRT/go/vse012070mrt/direct/01/
particularly long ago, tcl made some *very bad* decisions about floating
point numbers -- after every operation, they were converted back to
strings with a small number of decimal places. modern tcl has improved
this situation considerably by having a sane default for the string
representation of
In the next version, that text will be white on brown instead of black
on brown. I think it is an improvement to legibility.
If you are using an installed package, you can make the same change in
your installed version by modifying the file /usr/bin/axis (e.g., with
sudo gedit /usr/bin/axis)
I can see now that the documentation was unclear about this.
I am revising it to add the sentence marked +:
I and J are the offsets from the current location (in the X and Y directions,
respectively) of the center of the circle.
I and J are optional except that at least one of the two must
On Fri, Nov 30, 2007 at 01:27:11AM -0800, Klemen Dovrtel wrote:
BTW, is there an option to control individual I/O pins
via parallel port using G code.
Use the gcodes M64 and M65 for this purpose. In stock version of emc,
this is limited to 4 pins numbered 0 to 3. You can link them to
whatever
I have no experience with this company or its products, but I was able
to find a very short (one-page) datasheet on their website.
It appears that the KL-4030 takes step and direction inputs through
optoisolators. emc has no problem producing step and direction
waveforms--probably this is the
On Fri, Nov 30, 2007 at 01:27:11AM -0800, Klemen Dovrtel wrote:
Is it possible to send a simple command to rs232
within the G code using emc. I would like to control
the pneumatic valves and some other simple stuff and i
don't want to sped parallel port pins for simple
things like this.
On Sat, Dec 01, 2007 at 06:13:17AM -0800, Klemen Dovrtel wrote:
The galvanometer is current driven, so i was thinking
of using a op-amp and R-2R resistor ladder for current
source. So i need a 10 bit digital output for R-2R
resistor ladder (instead of pwm used in etch-servo
sample
In ECP mode only, parallel ports have FIFOs. In traditional modes (SPP,
bidirectional, EPP) the fifo is disabled and has no effect on operation.
Jeff
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What an interesting looking machine.
We have a demo of a similar type of machine, called SCARA. In emc
2.2.2, you can run the sample configuration scara/scara.ini and see a
visualization of this machine on your desktop. Screenshot here:
http://axis.unpy.net/01170693566
In emc, the process
On Thu, Dec 06, 2007 at 10:20:21AM -0200, Daniel Scheeren wrote:
In 2.2 releases each scan position create 9 lines like this:
0.00 0.00 0.004700 0.00
-1078038889533352951247954537139929273706981666439934620835065307540162947668163682328294324733651291932469341814794485760.00
You can make an output pin HIGH all the time by using setp in your hal
file:
setp parport.0.pin-MM-out 1
^^ replace MM with the pin number
However, parport pin 13 is an input to the PC, not an output (see
John,
When using stepconf, the BASE_PERIOD is chosen for you. If the required
step rate is low, stepconf chooses a high BASE_PERIOD, capped at
10ns. In the case of Alan Condit's machine, the maximum required
step rate is 3500Hz which is one step per 285us or so.
Do you see any reason why
The step length requirement of 25000ns is much longer than for other
stepper drivers I am familiar with. Doublestep is predicated on the
idea that the step pulse is fairly short (e.g. less than say 4000ns).
Doublestep uses a busy wait to create short output pulses; if
BASE_PERIOD is very large
On Sat, Dec 08, 2007 at 11:12:28PM -0500, xtra209 wrote:
My experience with stepconfig are mixed... The homing is screwed. I
fixed that by commenting out the sequence = lines in the .ini and now it
will home individual axes just fine.
What home sequence is required for your machine? Or is
I don't know of anyone running AXIS remotely; I've never done it.
AXIS assumes that it can create HAL pins and access (read) the var file
from the filesystem. This may be causing problems.
Look on the terminal for any errors AXIS prints.
Jeff
On Tue, Dec 25, 2007 at 08:30:09PM +0100, Jesús Bas wrote:
- No matter what numbers you put in stepconf for steplen, step space,
dirhold and dirsetup, the generated .hal file reflect wrong data.
I believe that the values written by stepconf are exactly what I
intended. Let me explain how
On Fri, Dec 28, 2007 at 11:39:38AM -0800, Kirk Wallace wrote:
This looks interesting:
http://axis.unpythonic.net/01198594294
This looks like an inexpensive way to get fast PWM and encoder rates
except it doesn't work in realtime yet?
I have been debating whether to announce this to a
the classicladder in emc2 does not have any modbus support.
emc2 doesn't ship with any modbus drivers.
jeff
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stepconf only gives a tiny, tiny subset of all the configurations that
can be created through emc2's HAL. It sounds like your home switch
configuration may be one that is not possible. You may be able to use
custom.hal and/or inifile tweaks after stepconf has run to get the
configuration you
Dean,
If I got a report about these problems in 2.2.2, I lost it.
Can you let me know what problems you encountered?
I do know of some homing problems in 2.2.1, but the ones I know about
were fixed in 2.2.2.
Jeff
-
This
This looks like good stuff. Thanks for your efforts to improve EMC2!
Jeff
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In my interface between the Arduino board and HAL, the first line of the
sample hal file is
loadusr -W arduino /dev/ttyUSB0 3
this runs the python script (which is actually at
/home/jepler/bin/arduino on my particular system) as a userspace
component.
Python programs aren't ever realtime
Here is my solution. Change the definition of #1 and #3 to suit the hexagonal
hole pattern you need.
Screenshot:
http://emergent.unpy.net/index.cgi-files/sandbox/hexagonal-pattern.png
Program:
( Drill a system of holes in a hexagonal layout )
#1=8 (nuber of holes on the side of the large
You can accomplish what you need in HAL or ClassicLadder. For each
axis, there is a pin axis.N.homing which is TRUE when the joint is
homing. You can use these together with the single input signal to get
the limit signal. In C-like notation, this would be
on_limit = switch_input
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