[Machinekit] Machinekit + Ros for Scorbot Er-3

[Tom M]

Hi Guys,

Members of our hackerspace Workshop 88  have 
acquired 3 Scorbot Er-3 with controllers.We've tested them out and the 
bot's who we've named Huey, Dewey and Louie all seem to be working well.

We'd like to use Ros on those bots, but the issue is how to get there. 

I was reading Alex Rössler post about machinekit and Ros at 
https://machinekoder.com/machinekit-ros-open-source-robots/ and it seems 
like this might be an approach worth trying.

Seb Kuzminsky used linuxcnc on a scorbot Er-3 with the existing control 
https://github.com/LinuxCNC/linuxcnc/blob/master/src/hal/user_comps/scorbot-er-3.py

https://github.com/LinuxCNC/linuxcnc/tree/master/configs/by_machine/scorbot-er-3

I've been corresponding with him on this and he said that this approach 
resulted in jerky motion since linuxcnc was communicating of a 9600 baud 
serial line.
He wound up replacing the control and creating a new controller with  Mesa 
7i43 (EPP Hostmot2 card), a Mesa 7i54 (Six channel 3A 40V Servo interface),

We've been toying with a couple approaches:
One approach would be to replace the controller and build a servo 
interphase using arduino nano's and a L298 motor drivers: 
https://www.youtube.com/watch?v=vHufLMh4xEI
and either use a pc or bbb to handle the motion planning.

We've been studying the Scorbot controller and it is well made and fully 
socketed.   We were thinking that we could lobotimizing  the control by 
yanking the 8031 control.   15 pins basically access everything on the 
board.
 It would be sort of cool, if we could create a cape and socket adapter and 
just plug in a bbb to the control and get it to run.  
We're still in the process of figuring out the motor drivers and the 
encoders.   Have people done this sort of thing is a dumb idea?  Is 
machinekit via a BBB able to handle this type of multiplexing out of the 
box or with minor modification or would this be a major modification and a 
cludge not worth doing?  If there is a project that's done this already, 
could someone point me to a project that I could template from?

Any thoughts on this would be appreciated,
Thanks,
Tom

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Re: [Machinekit] BeagleBone with Cramps X stepper vibrates but does not move

[Tom M]

Are the steppers the same between the x and the z?

Have you adjusted the pots on the  drivers?

Are they the same drivers?

Are you sure you have the cables wired correctly?

Is voltage, motors etc... Spec'd to the load?

I don't know your skill level. I hope this does't come across as Captain 
obvious.
(When i built my MPCNC I used a 5/16-18 threaded rod as the lead screw that 
caused me nothing but pain.   I get these frustrations)

What kind of Cnc are you making?




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[Machinekit] Re: Looking for a solid model for a cramps board

[Tom M]

Thanks... Looks great.

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[Machinekit] Looking for a solid model for a cramps board

[Tom M]

I was looking for a solid model for a cramps board to design an enclosure 
around.  Any chance someone has one?

Tom

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Re: [Machinekit] Re: Example Gantry Configs

[Tom M]

It sounds like not everything is getting mapped on start up.
Are you building an MPCNC or something with just single axis deracking.
 Are you using a cramps board?

On Thu, Mar 28, 2019, 10:19 AM Bradley Turner 
wrote:

> Here is my hal file. I am currently getting the error "3D.post.gui.hal:4
> Pin 'pyvcp.E0.Temp.set' does not exist." And I am not totally sure what
> that all means, Sorry!
> I took the standard CRAMPS CNC configuration files, and used the deracking
> MPCNC settings to try and setup deracking on the Y-gantry.
>
>
> On Thursday, March 28, 2019 at 10:46:38 AM UTC-4, Paulo Sherring wrote:
>>
>> Hey there! I guess it would help if you post your hal file, set debug to
>> 5 and post your debug output.
>> Best regards.
>>
>> Em quinta-feira, 28 de março de 2019 10:34:18 UTC-3, Bradley Turner
>> escreveu:
>>>
>>> Hello,
>>> I am trying to setup a similar config on my machine, although I only
>>> have a gantry config on the X axis. Every time I change something in the
>>> .hal file I will no longer be able to get machinekit to boot. It will show
>>> the splashscreen and then never load the AXIS gui. I am very new to Linux
>>> CNC, so any help would be greatly appreciated.
>>>
>>> On Monday, October 16, 2017 at 9:55:21 PM UTC-4, Tom M wrote:
>>>>
>>>>
>>>> I finally got my homing and deracking tuned for my dual gantry MPCNC.
>>>> Here's a video:
>>>> https://youtu.be/FRT0teFvGy8
>>>>
>>>> (Thanks Charles, for your wonderful work)
>>>>
>>>>
>>>>
>>>> On Saturday, September 30, 2017 at 7:16:20 PM UTC-5, Tom M wrote:
>>>>>
>>>>> Well the Milwaukee Makerfaire is done, I had my MPCNC running for 2
>>>>> days straight and I was fair pleased with how it ran.
>>>>> At the time I only had auto-homing working on the x but that's all
>>>>> fixed now.
>>>>>
>>>>> If someone wants use an  MPCNC with Machinekit and a Cramps  on a
>>>>> beaglebone you can find it here:
>>>>> https://github.com/Workshop88/MPCNC/tree/AutoHoming
>>>>> Its not perfect and I'm not done, but it works.   One issue I had was
>>>>> that the motors would skip after a the carriage deracked and it was
>>>>> returning to the home position.  I could keep if from skipping by keeping
>>>>> the home distance short.  It seems that this mode doesn't respond to max
>>>>> job speed or max velocity overide in axis display.   I'm assuming the fix
>>>>> is just to reduce the max velocity settings.
>>>>>
>>>>>
>>>>>
>>>>> On Tuesday, September 19, 2017 at 11:53:28 PM UTC-5, Tom M wrote:
>>>>>>
>>>>>> Well, I'm doing my happy dance..
>>>>>> My current issue is I didn't have my xenable signal tied into my
>>>>>> enable, powerup and led on my cramps board... (Thanks for the hints but 
>>>>>> not
>>>>>> the answer) Now I'm getting dangerous since I'm starting to think I 
>>>>>> almost
>>>>>> know what I'm doing...
>>>>>> I'm able to jog and do manual homing...Next step I need to get my
>>>>>> switches wired up and working on the autohoming.  I'm hoping I can get 
>>>>>> this
>>>>>> ready for the Milwaukee makerfaire without pulling an all nighter or
>>>>>> two  Hoo hoo
>>>>>
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Re: [Machinekit] Re: Configuring a 10Khz charge pump for a G540 gecko using BeagleBone Black running machinekit

[Tom M]

Bart Dring had created a cape called a Rosetta Bone which could use either
a grbl shield, a parallel port or a ramps shield..  Bart had gifted me a
blank board which worked fine for the parallel port, but had some issues
with the ramps..  so the cape never really got into production.

I noticed that Alex has created a cape for a parallel port that you can get
from OSH park.  Thisprobably would work.
https://github.com/machinekoder/bb-parallel-port-cape

On Fri, Mar 23, 2018, 4:01 PM mrarmyant <taylor@fryco.com> wrote:

> How did you get the G540 to work with the bbb?  Been looking all over the
> place on how to get a parallel port out of it.
>
> On Wednesday, February 1, 2017 at 12:10:49 AM UTC-6, Tom M wrote:
>>
>>
>> We almost almost finished configuring our cnc build at the makerspace I
>> belong to.
>>
>> Since the G540 has a charge pump, we thought we would take advantage of
>> it.
>> (We we're debating if we even need to since we don't think the bbb has
>> the start issues that a pc parallel port does.
>>
>> My understanding is that the G540 needs a charge pump frequency of 10Khz
>>
>> It seems that config files that we started with was only setup with a
>> 500hz servo-thread
>>
>> I suspect the servo thread is setup within the calls made at this line..
>>
>> https://github.com/Workshop88/machinekit/blob/OptimizePru/configs/ARM/BeagleBone/RosettaBoneGecko/RosettaBoneGecko.hal#L43
>> )
>> Is this correct?
>>
>> We tried setting up a 10Khz thread here:
>> https://github.com/Workshop88/machinekit/blob/OptimizePru/configs/ARM/BeagleBone/RosettaBoneGecko/RosettaBoneGecko.hal#L31
>> When we put a scope on the charge pump signal it was very erratic and the
>> gecko faulted.  (I was fine when it was on the servo thread but too slow)
>> (When we had the charge pump hooked to the 500Hz servo thread we got a
>> very nice signal.
>>
>> Are there any technical issues regarding the BBB that I'm not taking
>> account?
>> Thanks,
>> Tom
>>
>>
>> http://wiki.linuxcnc.org/cgi-bin/wiki.pl?About_Charge_Pumps
>>
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Re: [Machinekit] Re: Recommended configuration

[Tom M]

I started with the 5/16-18 and switched to the T8 which is the way to go.
I'm still using Jessie.
I've run both locally as well ssh'ng from my Linux laptop over USB as well
as over a network. It seems that the ssh'ng over USB has been my go-to
method lately.
.
I had started with gantrykins and manually homed and then switched over to
trivialkin[?] using the auto homing and deracking that Charles Steinkuehler
developed for a probotix mill.  I've been extremely pleased how well that's
working.  I have have both branches in my git repo.
 If you use my config please let me know of any issues.. I want to move
that into the machine kit repo eventually.

On Mar 8, 2018 12:15 AM, "Derek Pyner" <dpy...@gmail.com> wrote:

I'm using the standard T8 leadscrew, works fine on my first machine.

Are you using Jessie? Do you use an HTML monitor or do you have a remote
setup?


On Wednesday, 7 March 2018 16:51:47 UTC-8, Tom M wrote:
>
> Hi I have my MPCNC running very nicely using a cramps board.
> Here is link to my config.
> https://github.com/Workshop88/MPCNC
>
> What kind of leadscrew are you using on the z?
>
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[Machinekit] Recommended configuration

[Tom M]

Hi I have my MPCNC running very nicely using a cramps board.
Here is link to my config.
https://github.com/Workshop88/MPCNC

What kind of leadscrew are you using on the z?

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Re: [Machinekit] Re: Example Gantry Configs

[Tom M]

I finally got my homing and deracking tuned for my dual gantry MPCNC.
Here's a video:
https://youtu.be/FRT0teFvGy8

(Thanks Charles, for your wonderful work)



On Saturday, September 30, 2017 at 7:16:20 PM UTC-5, Tom M wrote:
>
> Well the Milwaukee Makerfaire is done, I had my MPCNC running for 2 days 
> straight and I was fair pleased with how it ran.
> At the time I only had auto-homing working on the x but that's all fixed 
> now.
>
> If someone wants use an  MPCNC with Machinekit and a Cramps  on a 
> beaglebone you can find it here: 
> https://github.com/Workshop88/MPCNC/tree/AutoHoming
> Its not perfect and I'm not done, but it works.   One issue I had was that 
> the motors would skip after a the carriage deracked and it was returning to 
> the home position.  I could keep if from skipping by keeping the home 
> distance short.  It seems that this mode doesn't respond to max job speed 
> or max velocity overide in axis display.   I'm assuming the fix is just to 
> reduce the max velocity settings.
>
>
>
> On Tuesday, September 19, 2017 at 11:53:28 PM UTC-5, Tom M wrote:
>>
>> Well, I'm doing my happy dance..
>> My current issue is I didn't have my xenable signal tied into my enable, 
>> powerup and led on my cramps board... (Thanks for the hints but not the 
>> answer) Now I'm getting dangerous since I'm starting to think I almost know 
>> what I'm doing...  
>> I'm able to jog and do manual homing...Next step I need to get my 
>> switches wired up and working on the autohoming.  I'm hoping I can get this 
>> ready for the Milwaukee makerfaire without pulling an all nighter or 
>> two  Hoo hoo
>
>

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Re: [Machinekit] Re: Z tool height setting probe and automation for MPCNC using machinekit and pymachinetalk

[Tom M]

Looks nice,Is that your machine?
Thats not exactly what I was thinking, but a custom Mcode has some appeal.

On Oct 2, 2017 3:41 AM, "Masoun Mardini" <masounmard...@gmail.com> wrote:

> You mean something like this???
> https://youtu.be/OmOqhB4CsJk
> if so you need to write your own G code program and remap to custom M
> instruction ( note the video is done Linuxcnc but I think it will work on
> machine kit)
>
>
> On Sunday, 1 October 2017 20:26:26 UTC+2, Tom M wrote:
>>
>> My apologies in advance about this long brain-dump.
>> I've been making good progress and having a lot of fun auto-homing
>> <https://github.com/Workshop88/MPCNC/tree/AutoHoming> using Charles' HAL
>> gantry component
>> <https://groups.google.com/forum/#!topic/machinekit/To6ivNZpEHU>for my
>> dual gantry MPCNC <https://www.vicious1.com/specifications/> but now and
>> now I'm ready to take it further. (A MPCNC is a Mostly Printed CNC is a low
>> cost kit that you can make or buy which goes together fairly quick. Here's
>> a link of one that we're putting together at workshop88:
>> https://www.youtube.com/watch?v=N12Rk-Ss3aw )
>> I've been thinking about my next steps for my machine.
>>
>> At this point, I want to focus on V-carve engraving using F-engrave
>> <http://www.scorchworks.com/Fengrave/fengrave.html> for generating
>> g-code
>>
>> Some of the issues that I've been running into are:
>>
>>- Setting the Z-tool-offset
>>- Parallelism being the wood surface and x-y plan of the machine.
>>
>>
>> To that end I'm interested making some type of z-axis touch probe and
>> start exploring pymachinetalk
>> <https://github.com/machinekit/pymachinetalk>.
>> Starting out, I'm probably going to make something simple, along the
>> lines of this:
>>
>> http://www.mycncuk.com/threads/5057-another-tool-hight-setting-proble-%29
>>
>> I like the idea of having some spring to the system that that I wont bury
>> the tool into the tool height setter if I go too far.
>>
>> One thing that I don't like is that I have a wired connection to the
>> pre-setter.  It would be the cat's meow to have the switch wired to a
>> pi-zero with wifi (I have a bunch of RPI's sitting unused) and have it talk
>> to my beaglebone over wifi(or other wireless method)and tell the
>> beaglebone  about its reference height or if it's been touched but I'm
>> getting way ahead of myself here.
>>
>>
>> I really enjoy watching the Hal-gantry component derack to the switches.
>> It's pretty cool which is influencing my thinking here.
>>
>> I want to have the z-offset work flow setting be something like this:
>>
>>1. Manually rough set the z-height to the work
>>   1. (This would be less than the height z-offset probe and
>>   would be a safety to insure that I don't bury the tool when using the 
>> probe)
>>2. raise the z-height and insert the probe above the tool.
>>3. Press a custom button on the axis display, which would lower the
>>z-axis till the switch on the probe is tripped. It would then raise lower
>>to find the exact point.  If a rough distance has been defined and has 
>> been
>>exceeded a fault estop would be generated.
>>4. Have parameters be automatically entered for tool offset.
>>
>>
>> I'm thinking I can use tool/system initially for setting the Z tool
>> offset, but could be extended to calibration of the x-y plane.
>>
>>
>> My questions are:
>>
>>- Does this sound reasonable?
>>   - Is there a more established method for doing what I'm talking
>>   about.
>>- Similar things have been done, but has what I'm talking about been
>>done already?
>>   - If so does anyone have a links to recommended reading or the
>>   magic Google search terms to plug in?
>>
>>
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[Machinekit] Z tool height setting probe and automation for MPCNC using machinekit and pymachinetalk

[Tom M]

My apologies in advance about this long brain-dump.
I've been making good progress and having a lot of fun auto-homing 
 using Charles' HAL 
gantry component 
for my dual 
gantry MPCNC  but now and now I'm 
ready to take it further. (A MPCNC is a Mostly Printed CNC is a low cost 
kit that you can make or buy which goes together fairly quick. Here's a 
link of one that we're putting together at workshop88: 
https://www.youtube.com/watch?v=N12Rk-Ss3aw )
I've been thinking about my next steps for my machine.

At this point, I want to focus on V-carve engraving using F-engrave 
 for generating g-code  

Some of the issues that I've been running into are:

   - Setting the Z-tool-offset
   - Parallelism being the wood surface and x-y plan of the machine.


To that end I'm interested making some type of z-axis touch probe and start 
exploring pymachinetalk .
Starting out, I'm probably going to make something simple, along the lines 
of this:

http://www.mycncuk.com/threads/5057-another-tool-hight-setting-proble-%29

I like the idea of having some spring to the system that that I wont bury 
the tool into the tool height setter if I go too far.

One thing that I don't like is that I have a wired connection to the 
pre-setter.  It would be the cat's meow to have the switch wired to a 
pi-zero with wifi (I have a bunch of RPI's sitting unused) and have it talk 
to my beaglebone over wifi(or other wireless method)and tell the 
beaglebone  about its reference height or if it's been touched but I'm 
getting way ahead of myself here.


I really enjoy watching the Hal-gantry component derack to the switches.  
It's pretty cool which is influencing my thinking here.

I want to have the z-offset work flow setting be something like this:

   1. Manually rough set the z-height to the work
  1. (This would be less than the height z-offset probe and would 
  be a safety to insure that I don't bury the tool when using the probe)
   2. raise the z-height and insert the probe above the tool.
   3. Press a custom button on the axis display, which would lower the 
   z-axis till the switch on the probe is tripped. It would then raise lower 
   to find the exact point.  If a rough distance has been defined and has been 
   exceeded a fault estop would be generated.
   4. Have parameters be automatically entered for tool offset.
   

I'm thinking I can use tool/system initially for setting the Z tool offset, 
but could be extended to calibration of the x-y plane.


My questions are:

   - Does this sound reasonable?
  - Is there a more established method for doing what I'm talking about.
   - Similar things have been done, but has what I'm talking about been 
   done already?
  - If so does anyone have a links to recommended reading or the magic 
  Google search terms to plug in?
  

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Re: [Machinekit] Re: Example Gantry Configs

[Tom M]

Well, I'm doing my happy dance..
My current issue is I didn't have my xenable signal tied into my enable, 
powerup and led on my cramps board... (Thanks for the hints but not the answer) 
Now I'm getting dangerous since I'm starting to think I almost know what I'm 
doing...  
I'm able to jog and do manual homing...Next step I need to get my switches 
wired up and working on the autohoming.  I'm hoping I can get this ready for 
the Milwaukee makerfaire without pulling an all nighter or two  Hoo hoo

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Re: [Machinekit] Re: Example Gantry Configs

[Tom M]

I'm in the process of changing my Mostly Printed CNC MPCNC from gantrykins 
to trivialkin with Charles's gantry solution.

The MPCNC is somewhat unique in that it has a dual gantry solution.
I setup a git repo where I have my perfectly working gantrykin solution 
(less limit switches) a branch called autohome where I'm working on the 
trivialkin/ gantry solution.

At this point, I don't have the limits switches wired, but I have the "S", 
"-" switches wired together so they simulated NC.
I can get axis to display and simulate jogging, but nothing is happening 
with the motors.In my master(gantrykin) solution, I can here the 
motor's click when I enable axis, but there is silence when I run trivial 
kins.

I'm not sure if instantiated the gantry object correctly(it looks a little 
weird to me)  Could someone give this a quick gander and see if there's 
anything obviously wrong with this?
https://github.com/Workshop88/MPCNC/blob/AutoHoming/MPCNC.hal#L58









On Thursday, April 27, 2017 at 10:05:12 PM UTC-5, Charles Steinkuehler 
wrote:
>
> If you want to manually home the machine, you may want to use 
> gantrykins, where you can jog each gantry axis separately, but I've 
> generally not enjoyed using non-trivialkins configurations (this is 
> reportedly a lot better if using the Joints-Axis code from LCNC, but 
> that hasn't been ported to Machinekit yet). 
>
> Otherwise, if you want to use the gantry component (as is done in the 
> Comet configs), you need to wire at least one limit switch.  Then you 
> can hold that switch and jog the axis and only the other motor will 
> move (towards the home position, anyway).  You will probably want two 
> switches, since hitting the limit only stops motion in one direction. 
>
> If you want to carry on without limit switches, I think you'll find it 
> easiest to just use a plain trivialkins setup.  You can manually 
> remove any skew between the gantry joints prior to powering on, then 
> jog to and set your home position as usual. 
>
> So...I'd recommend you either add limit switches or don't use the 
> gantry component. 
>
> On 4/27/2017 8:59 PM, Jim McIntosh wrote: 
> > Hi, 
> > 
> >   I'm running the BBB with the Probotix breakout board; but I don't have 
> any 
> > limit switches. How do I make it to where I can manually home the 
> machine? (it's 
> > on an entirely different setup, not a comet) 
> > 
> >   any help would be appreciated. 
> > 
> > -Jim 
> > 
> > On Friday, August 15, 2014 at 9:32:46 AM UTC-6, Charles Steinkuehler 
> wrote: 
> > 
> > I finally crafted some example configurations for the gantry HAL 
> > component I wrote some time ago.  These specific configs are for a 
> Comet 
> > router from Probotix, but should work as a starting point for any 
> gantry 
> > style system that has a homing switch available for each gantry 
> joint 
> > (ie: Shapeoko or similar). 
> > 
> > Video on Youtube: 
> > https://www.youtube.com/watch?v=7XhIoDV8Hp8 
> >  
> > 
> > Configs are in a github PR (already merged while I was typing!): 
> > https://github.com/machinekit/machinekit/pull/276 
> >  
> > 
> > The relevant portions of the config in the HAL file: 
> > 
> > Splitting one commanded position into two with the gantry comp: 
> > 
> https://github.com/machinekit/machinekit/blob/master/configs/ARM/BeagleBone/Probotix/Comet.hal#L54-L62
>  
> > <
> https://github.com/machinekit/machinekit/blob/master/configs/ARM/BeagleBone/Probotix/Comet.hal#L54-L62>
>  
>
> > 
> > 
> > Home/limit switch setup: 
> > 
> https://github.com/machinekit/machinekit/blob/master/configs/ARM/BeagleBone/Probotix/Comet.hal#L105-L111
>  
> > <
> https://github.com/machinekit/machinekit/blob/master/configs/ARM/BeagleBone/Probotix/Comet.hal#L105-L111>
>  
>
> > 
> > 
> > Holler if there are any questions! 
> > 
> > -- 
> > Charles Steinkuehler 
> > cha...@steinkuehler.net  
> > 
> > -- 
> > website: http://www.machinekit.io blog: http://blog.machinekit.io 
> github: 
> > https://github.com/machinekit 
> > --- 
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> > "Machinekit" group. 
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> > to machinekit+...@googlegroups.com  
> > . 
> > Visit this group at https://groups.google.com/group/machinekit. 
> > For more options, visit https://groups.google.com/d/optout. 
> > 
>
>
> -- 
> Charles Steinkuehler 
> cha...@steinkuehler.net  
>

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[Machinekit] Machinekit at the Milwaukee Maker Fair.

[Tom M]

Hey Guy's,

If anyone is going to be at the Milwaukee Maker Faire feel free to stop by 
and say hi.

https://milwaukee.makerfaire.com/maker/entry/275/

Daren Schewenke is going to be there as well.
https://milwaukee.makerfaire.com/maker/entry/277/

Tom

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[Machinekit] CRAMPS stepping motor for E1 can't move

[Tom M]

Did you have success?

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[Machinekit] CRAMPS stepping motor for E1 can't move

[Tom M]

Are you sure the polulo driver is OK? 

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Re: [Machinekit] Re: Example Gantry Configs

[Tom M]

Hi Charles,
I'm getting ready to bite the bullet and give up on gantrykins and switch 
over to this method for my dual gantry MPCNC/Cramps setup.

One thing that I'm a little fuzzy on is syncing the limit switches. 
I understand the trick/feature you developed; that both switches need to 
close for the homing cycle to finish and a is the mechanism for  de-racking 
the gantry.

So I'm assuming that the implication to this is that the switches on the 
gantry need to be aligned perfectly.   Is this correct or is there some 
offset compensation built into code that will account for error in the 
switches(that I'm not seeing /understanding)

The reason I'm asking is need make the mounts for the endstops.  If I need 
to take out error using the stops only, I need to create some sort of fine 
alignment feature in end stop mount.

Tom

On Sunday, November 29, 2015 at 2:59:46 PM UTC-6, Bas de Bruijn wrote:
>
> Hi Neo,
>
> On 29 Nov 2015, at 21:31, Neo Phema  
> wrote:
>
> It's very well done. Is the gantry component you wrote beaglebone 
> dependant? 
>
>
> the components that are used in HAL are meant to be the link between 
> software and hardware. Some components are specifically for setting up 
> hardware, most are not. So _you_ can decide the hardware that gets attached 
> to this component. The beaglebone and pins etc are just the hardware part. 
> In the terminal type "man gantry” which should give you the manpage. Or 
> have a look here 
> https://github.com/machinekit/machinekit-docs/blob/master/machinekit-documentation/components/gantry.asciidoc
>
> You might also have a look here:
>
> https://github.com/machinekit/machinekit-docs/blob/master/src/hal/intro.asciidoc
>
> Cheers,
> Bas
>
>
> On Friday, November 27, 2015 at 9:35:55 PM UTC-6, Charles Steinkuehler 
> wrote:
>>
>> Mostly because of all the stuff in the legacy LinuxCNC stack that 
>> breaks when you aren't using trivialkins, and the associated extra 
>> hassle required when using the application.  Switching between 
>> world/joint modes, no coordinated MPG jogging with non-trivialkins, 
>> more complicated (IMHO) homing setup, etc. 
>>
>> A gantry system is basically just a Cartesian machine with duplicated 
>> drive and a modified homing scheme for the paired joints.  Both 
>> gantrykins and my gantry component are essentially hacks to make this 
>> work with LinuxCNC, but using gantrykins comes with a bunch of other 
>> UI fallout I didn't want to deal with.  So I wrote the gantry comp. 
>>
>> One example: 
>> Configure your gantry system to move to the center of the work 
>> envelope (let's say it's 100.0 for example) when finished homing, and 
>> the home switch is at 0.0.  So that means for your gantry joints you'd 
>> set: 
>>
>>   HOME = 0.000 
>>   HOMEOFFSET = 100.000 
>>
>> Now home your gantrykins machine in joint mode and watch as one side 
>> of the gantry rapids from the home switch to the midpoint, while the 
>> other side is still searching for the home latch position.  This is 
>> *NOT* a GoodThing!  The gantry component I wrote handles this case 
>> correctly.  :) 
>>
>> On 11/27/2015 3:52 PM, Neo Phema wrote: 
>> > Charles, just an orientation question. 
>> > 
>> > My study shows trivikins to be less specialized that gantrykins for 
>> this 
>> > type of control. That I might learn, I am interested in what led you to 
>> > choose trivikins.   
>> > 
>> > On Friday, August 15, 2014 at 10:32:46 AM UTC-5, Charles Steinkuehler 
>> wrote: 
>> >> 
>> >> I finally crafted some example configurations for the gantry HAL 
>> >> component I wrote some time ago.  These specific configs are for a 
>> Comet 
>> >> router from Probotix, but should work as a starting point for any 
>> gantry 
>> >> style system that has a homing switch available for each gantry joint 
>> >> (ie: Shapeoko or similar). 
>> >> 
>> >> Video on Youtube: 
>> >> https://www.youtube.com/watch?v=7XhIoDV8Hp8 
>> >> 
>> >> Configs are in a github PR (already merged while I was typing!): 
>> >> https://github.com/machinekit/machinekit/pull/276 
>> >> 
>> >> The relevant portions of the config in the HAL file: 
>> >> 
>> >> Splitting one commanded position into two with the gantry comp: 
>> >> 
>> >> 
>> https://github.com/machinekit/machinekit/blob/master/configs/ARM/BeagleBone/Probotix/Comet.hal#L54-L62
>>  
>> >> 
>> >> Home/limit switch setup: 
>> >> 
>> >> 
>> https://github.com/machinekit/machinekit/blob/master/configs/ARM/BeagleBone/Probotix/Comet.hal#L105-L111
>>  
>> >> 
>> >> Holler if there are any questions! 
>> >> 
>> >> -- 
>> >> Charles Steinkuehler 
>> >> 
>> >> 
>> >> 
>> > 
>>
>>
>> -- 
>> Charles Steinkuehler 
>> cha...@steinkuehler.net 
>>
>
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Re: [Machinekit] Machinekit at the Midwest reprap festival [and Axis keyboard Jog Delay on bbb]

[Tom M]

Do we need to wait for scratch to be released?  How big of a deal would it
be to stretch  image for the bone with machinekit ot on it?


On Mar 26, 2017 8:07 PM, "Charles Steinkuehler" <char...@steinkuehler.net>
wrote:

> Thanks for the report on the MRRF!  I'm bummed I wasn't able to make
> it up there this year.  :(
>
> On 3/26/2017 5:17 PM, Tom M wrote:
> >
> > I just want to get rid of the jog delay and have the display to be a bit
> more
> > zippy.
>
> Switch from the 3D preview tab to the DRO tab and your jogging
> response will be vastly improved.
>
> > I think fixing the GPU issue could be huge as far as promoting the use
> > of machinekit.
>
> Yes, I'm looking forward to a working UI with GPU support on the BBB,
> and it looks like Weyland is probably going to be the first/best
> choice for that.
>
> --
> Charles Steinkuehler
> char...@steinkuehler.net
>
> --
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> https://github.com/machinekit
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[Machinekit] Machinekit at the Midwest reprap festival [and Axis keyboard Jog Delay on bbb]

[Tom M]

I was at the Midwest Reprap festival on Saturday and I all I have to say is 
that it was frickin awesome. (Kid in a candy store doesn't come close to 
describing it)

It's grown and now occupies two buildings. There where more than a 1000 
people in attendance.  Lots of new cleaver innovation that was new to me.

In his Beaglebone presentation, Jason Kridner from TI talked about 
Machinekit among other things. Jason also had had a PocketNC running 
Machinekit which which is a very cool machine.

I was chatting with Drew Fustini from Oshpark.com ( who is board member of 
the Beaglebone foundation) and he mentioned this multi-filmanent color 
mixing printer I needed to check out. I missed it on my first pass through 
the second building.

It turns this awesome printer belonged to a sleep deprived Daren Schwenke 
(Arcus 3d) who runs machinekit on a Beaglebone/Cramps board and posts often 
on this group.  (All I got to say is his color mixing printer is cool and I 
hope he brings his machine to the meetup)

I introduced Daren to Jason Kridner and Elias Bakken from Replicate (who 
had the booth next to Jason) and we had a fun discussion about his machine.

Prior to this, I was asking Drew and Jason about the jog delay I was 
experiencing in machinekit.  This delay occurs when I'm running Axis and 
the  bbb is hooked up to a monitor.

If I understand this correctly is that X windows doesn't support the GPU on 
the BBB. The result is that this puts a huge load on the cpu since hardware 
graphics acceleration via X doesn't work on Jesse.

The hope is that with Debian 9 Stretch and it's implementation of Wayland 
instead of X-windows will solve this issue.

Silly question here... If Wayland hasn't been released yet but it's getting 
close, shouldn't we be testing it on machinekit on the BBB to see if 
Wayland works with the BBB Gpu.  If there is something that could be 
tweaked would it be better to do it at this point rather than when Stretch 
is released?  I'm out totally out of my league here as to fixing the gpu 
issue, but I thought I ask the question.  I'm really getting into 
machinekit on a BBB.
I just want to get rid of the jog delay and have the display to be a bit 
more zippy.  I think fixing the GPU issue could be huge as far as promoting 
the use of machinekit.


Tom

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[Machinekit] ANNOUNCE: Machinekit Meetup April 29/30, Madison/WI

[Tom M]

I don't know how if this will affect the Machinekit meetup but I just got word 
that makerfaire Chicago has been postponed.

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[Machinekit] Re: Problems starting up machinekit on BBB black with fresh install of beaglebone black using Atrix Laptop.

[Tom M]

The strange thing is that anstrom seems to have the same boot error but it
seems to be able to handle it (more or less)


On Sun, Feb 19, 2017 at 6:46 PM, Tom M <saku...@gmail.com> wrote:

>
> I just loaded the latest machinekit image from here.
> http://elinux.org/Beagleboard:BeagleBoneBlack_Debian#BBW.2FB
> BB_.28All_Revs.29_Machinekit
>
> I get the error message" could not request pin 21 on devicepintctrl-single
>
> A little googling pops me up to https://github.com/
> cdsteinkuehler/beaglebone-universal-io/issues/21
>
> It sounds like this issues was resolved a couple of years ago.   Has it
> somehow creap back into the latest builds?
>
> I trying to get machinekit up and running as easily has possible without
> having to revert to command line gymnastics.
>
> (When I remove the SD card, anstrom fires up just fine)  I away from home
> at the moment, and I don't the cables to see if this problem goes away when
> I run with a DVI monitor with a Hdmi to DVI convertor.
> Is that's what's going on?? Can this be fixed in the initial install?
>
> Tom
>
>
> <https://github.com/cdsteinkuehler/beaglebone-universal-io/issues/21>
>
>
>

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[Machinekit] Problems starting up machinekit on BBB black with fresh install of beaglebone black using Atrix Laptop.

[Tom M]

I just loaded the latest machinekit image from here.
http://elinux.org/Beagleboard:BeagleBoneBlack_Debian#BBW.
2FBBB_.28All_Revs.29_Machinekit

I get the error message" could not request pin 21 on devicepintctrl-single

A little googling pops me up to
https://github.com/cdsteinkuehler/beaglebone-universal-io/issues/21

It sounds like this issues was resolved a couple of years ago.   Has it
somehow creap back into the latest builds?

I trying to get machinekit up and running as easily has possible without
having to revert to command line gymnastics.

(When I remove the SD card, anstrom fires up just fine)  I away from home
at the moment, and I don't the cables to see if this problem goes away when
I run with a DVI monitor with a Hdmi to DVI convertor.
Is that's what's going on?? Can this be fixed in the initial install?

Tom




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Re: [Machinekit] Gauging interest for Machinekit Meeting early 2017 in WI,USA

[Tom M]

Well,. One day is a little is a little short for a meetup(plus I'd be
manning a booth and miss most of it).  But it would might be nice to have
some some presentation for the general public as to what machinekit is.
This whole thing is really short notice, but it I'm thinking this event
should repeat next year.
Alexander where do you live?



On Feb 11, 2017 3:42 PM, "Charles Steinkuehler" <char...@steinkuehler.net>
wrote:

On 2/10/2017 5:20 PM, Tom M wrote:
> Charles , The is going to be a full maker faire in Chicago in 10
> weeks. I'm planning on being there with a MPCNC  and my wedgie
> Delta both running machinekit kit {I hope)
>
> Dale Dougherty and company is looking for speakers. I feel like a
> blue belt at machinekit and I'm a  uncomfortable giving a
> presentation..  I know your busy but any chance you could be in
> town and give a talk.  The show is co located with c2e2 at
> McCormick place.  Perhaps we could tuen it into a mini users
> conference? I gotta think Tormach is going to be there since it's
> in there neck of the woods and they advertise in Make.

I'd love to head up to Chicago, but that is the weekend before NAB
(the biggest trade show of the year for my RealJob (TM)), and since
I'm frantically working on a product to be announced at said show,
it's probably not a good time for me to be traveling.  :-/

...but I'll see.  If things go well, I could maybe swing up to the
windy city for a day.

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Re: [Machinekit] Re: Gauging interest for Machinekit Meeting early 2017 in WI,USA

[Tom M]

Oh..I read your email to fast..
I don't think so..  I was at the Make Town Hall meeting at pumping station
one last Tuesday where they where talking about this.

 Make has been wanting to do a full Makerfaire in Chicago put they never
could find a venue that really worked for them.

I got the impression that co-locating the show with C2E2 was serendipitous
with a short advance notice and was too good for them to pass up.

It could be a good opportunity to generate interest in machinekit.


Tom

On Fri, Feb 10, 2017 at 9:02 PM, Daren Schwenke 
wrote:

> That date was absent from the list.  I was assuming this was intentional
> to not make people choose.
> I had planned on attending the faire, and bringing at least one Machinekit
> powered project.
> I haven't signed up yet, and round one deadline is in 7 days.
> Maker Faire Chicago 2017:*Event Date:* April 22 & 23, 2017
> *Location:* McCormick Place  
> 2301 S King Dr, Chicago, IL 60616
>
> On Monday, November 28, 2016 at 2:16:06 PM UTC-5, Alexander Rössler wrote:
>>
>> Hi all,
>>
>> I want to gauge some interest for a Machinekit meeting in the USA next
>> year. I started a thread on GitHub some time ago but without a lot
>> of success.
>> https://github.com/machinekit/machinekit/issues/1059
>>
>> Tormach is so generous to host us again in their headquarters in
>> Waunakee, Wisconsin. But first, we need to fix the date that suits most
>> of us. If you have time and interest to join the meeting please select
>> the date you are available in the following Doodle poll:
>> http://doodle.com/poll/32kkc5pnkyfuxpun
>>
>> Cheers,
>> Alexander
>>
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Re: [Machinekit] Re: Gauging interest for Machinekit Meeting early 2017 in WI,USA

[Tom M]

Ah... Sorry about that..
http://makerfaire.com/chicago/
April 22 - 23


On Fri, Feb 10, 2017 at 9:02 PM, Daren Schwenke 
wrote:

> That date was absent from the list.  I was assuming this was intentional
> to not make people choose.
> I had planned on attending the faire, and bringing at least one Machinekit
> powered project.
> I haven't signed up yet, and round one deadline is in 7 days.
> Maker Faire Chicago 2017:*Event Date:* April 22 & 23, 2017
> *Location:* McCormick Place  
> 2301 S King Dr, Chicago, IL 60616
>
> On Monday, November 28, 2016 at 2:16:06 PM UTC-5, Alexander Rössler wrote:
>>
>> Hi all,
>>
>> I want to gauge some interest for a Machinekit meeting in the USA next
>> year. I started a thread on GitHub some time ago but without a lot
>> of success.
>> https://github.com/machinekit/machinekit/issues/1059
>>
>> Tormach is so generous to host us again in their headquarters in
>> Waunakee, Wisconsin. But first, we need to fix the date that suits most
>> of us. If you have time and interest to join the meeting please select
>> the date you are available in the following Doodle poll:
>> http://doodle.com/poll/32kkc5pnkyfuxpun
>>
>> Cheers,
>> Alexander
>>
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> https://github.com/machinekit
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Re: [Machinekit] Gauging interest for Machinekit Meeting early 2017 in WI,USA

[Tom M]

Charles ,
The is going to be a full maker faire in Chicago in 10 weeks.
I'm planning on being there with a MPCNC  and my wedgie Delta both running 
machinekit kit {I hope)

Dale Dougherty and company is looking for speakers. I feel like a blue belt at 
machinekit and I'm a  uncomfortable giving a presentation..  I know your busy 
but any chance you could be in town and give a talk.  The show is co located 
with c2e2 at McCormick place.  Perhaps we could tuen it into a mini users 
conference?
I gotta think Tormach is going to be there since it's in there neck of the 
woods and they advertise in Make.

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Re: [Machinekit] Configuring a 10Khz charge pump for a G540 gecko using BeagleBone Black running machinekit

[Tom M]

Kirk.. I was looking your post over smart phone this morning and this was
the first chance I had to really look at your links in detail...
Nice job on the analysis on the  gecko btw..
We've been really happy with the G540 and sort of curious on what made it
tick..
So... I'm pretty sure we can figure out something to buffer the voltage and
amperage signal between the beagle-bone and the gecko. That's very useful
to know  that the frequency isn't that big of a deal.   Like I side we
where getting a nice signal just hooking up to the servo thread.

Charles,
I'm glad you like our vintage scope...
(Are any of you guys come out for the makerfaire that's happening in
chicago?
https://www.eventbrite.com/e/maker-faire-chicago-town-hall-tickets-31268285283





On Wed, Feb 1, 2017 at 9:16 PM, Kirk Wallace <kwall...@wallacecompany.com>
wrote:

> On 02/01/2017 10:46 AM, Tom M wrote:
>
>> Thank for the quick response.
>> When we connected charge pump we got a nice 500 Hz signal albeit 3
>> volts.  When  I attempted to create a 10k thread this is what we got as
>> far as a trace.
>>
>
>
> 3 Volts isn't high enough. The current into the G540 won't start to flow
> until you get above 3 Volts. Once you get flow, you need to make sure you
> get enough current. The input is DC blocked so you need to ensure there is
> enough high and low time to get good AC. The frequency isn't that important
> -- 200 Hz to 2 kHz should be okay.
>
>
>
> --
> Kirk Wallace
> http://www.wallacecompany.com/machine_shop/
> http://www.wallacecompany.com/E45/
>

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Re: [Machinekit] Re: Looking for Hal/Ini file for BBB, Rosetta Bone, and Gecko G540 with MachineKit

[Tom M]

Charles,
Thanks for the detailed response.  We have out cnc night tonight and given
us much to look at.

I wouldn't mind giving it go developing it a go  coming up with a
configuration tool/GUI for the BBB. (Best way to learn about this stuff)

I took a quick look at the source for stepconf and it appears to be
glade/Python.
I  was debating if I should copy the code and just refactor it to handle a
BBB or start from scratch with QT Python c/c++.   Any thoughts?

On Oct 11, 2016 10:48 AM, "Charles Steinkuehler" <char...@steinkuehler.net>
wrote:

> On 10/9/2016 4:34 PM, Tom M wrote:
> >
> > hpg: stepgen.01.maxvel is too big for current step timings &
> position-scale,
> > clipping to max possible
> >
> > joint 1 following error
> > emc/task/taskintf.cc 617: Error on axis 1, command number 358
> >
> > The clipping message is occurring when I toggle machine power.  I'm
> still able
> > to run the demo gcode and I hit the joint follower when I'm finishing
> the T in
> > machine kit.
>
> The minimum stepper pulse times are one PRU task-cycle-time high and
> one task-cycle-time low.  So the maximum pulse frequency depends on
> the requested step timings and the PRU task-period.  Usually, the step
> timings are in the range of a few hundred nS, and the PRU period is
> thousands of nS, so usually the maximum step frequency is half the
> task-period.
>
> You get the following error at the end because the machine is trying
> to do a rapid move (maximum velocity) instead of a controlled velocity
> cut.  The motion planner is setup with a maximum velocity for an axis
> that requires a step rate that the PRU code cannot generate given the
> pru task-period, and the step timings.  Very soon as the motion
> planner commands this unattainable velocity, you will get a following
> error as the PRU stepgen cannot keep up with the commanded position.
>
> > (at this point, I"m not connected to  machine(it's in another state)).
>  I'm
> > trying to understand the clipping to max possible message
> > I had this issues working on my MPCNC project and Charles said.
> >
> > "This means the PRU cannot meet your requested maximum velocity (or
> > step pulse frequency) given the PRU period and various other
> > parameters (step pulse high/low time).  You need to either lower the
> > maximum velocity in your INI file or reduce the PRU period"
> >
> > How much can I/ should I reduce the PRU period... Going down to 5000  is
> too
> > much is it seems to break something else.
>
> I typically run with a PRU period of 3000 to 5000 nS without issue,
> but it depends on how many PRU tasks (stepgen/pwmgen) you are trying
> to run.  If you have access to a direct PRU output pin, you can set it
> up to be a PRU busy indicator and monitor the PRU loading via an
> oscilloscope.
>
> To monitor the PRU busy time:
>
> * set hpg.pru_busy_pin to 128 + the PRU direct pin number
>
> * configure the selected pin to be a PRU direct output
>
> By default, the PRU busy pin is enabled and routed to PRU direct
> output 0 (hpg.pru_busy_pin = 0x80), so if you're using my universal
> overlay and are not otherwise using P9.31, all you have to do is setup
> the pin:
>
> config-pin P9.31 pruout
>
> ...or for example to use P9.28:
>
> halcmd setp hpg.pru_busy_pin 0x85
> config-pin P9.28 pruout
>
> > (Is there either a step by step calculation guide for this.  It would be
> nice if
> > there was a tool similar to the parport configuration tool for the
> beaglebone
> > PRU configuration.
>
> Yes it would...feel free to send a pull-request!  :)
>
> > The max velocities don't seem that unreasonable.
>
> No, it's the very large scale values that are causing problems
> (particularly the one that's 75000).  That requires 75000 pulses per
> second with a maximum velocity = 1.0 (75 KHz), and the stepgen
> velocity limit is set to 1.2x that (90 KHz), but the maximum step
> frequency when using the PRU defaults is only 50 KHz.  If you can
> reduce the micro-stepping or otherwise decrease the scale value (while
> keeping the machine useful), that would help.
>
> ...but it should work as-is if you drop the PRU period to 3000 to 5000
> nS, which should be very safe since you're only running 4 stepgen
> instances.
>
> > I tried halfing this variable,
> > https://github.com/Workshop88/machinekit/blob/master/
> configs/ARM/BeagleBone/RosettaBoneGecko/RosettaBoneGecko.ini#L101
> > by 1/2 and it seemed that I broke
>
> That is the wrong place to change anything for the PRU.
>
> Add "pru_period=5000" to CONFIG= in [PRUCONF]
>
> https://github.com/Workshop88/machinek

Re: [Machinekit] Home Built Delta Printer With Machinekit Interface, Makerfaire NYC 2016 Exhibit #58459

[Tom M]

Yep...sounds about right..  sector 67 is a great makers pace btw.. very
nice people. I visited them when they had the machinekit meeting @tormac?
Are you out of ps1 or Milwaukee?

On Sep 2, 2016 3:43 PM, "Daren Schwenke" <darenschwe...@gmail.com> wrote:

> For the Madison Mini Maker, I destroyed my only working print head 10pm
> the night before.
> Machined a new one over-night and assembled it on-site
> <https://hackaday.io/project/3729-arcus-3d-m1-full-color-filament-printer/log/40417-sleep-deprivation>
> .
>
>
> On Thursday, September 1, 2016 at 11:29:45 PM UTC-4, Tom M wrote:
>>
>> Good luck.
>> I've used the Chicago North side mini maker as a motivating deadline fora
>> couple of years.  First time a pulled an all nighter to get it done.
>> On my mpcnc project i was doing performance art soldering a wiring
>> harness the day of the event.. your cutting it a bit tight.
>
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Re: [Machinekit] Rfid, Mtconnect and Machinkit.

[Tom M]

I think I may have found it... This link looks like it has possibilities.  
Hopefully I can find a little time to look at it this weekend.
https://github.com/mtconnect/cppagent/issues/31

On Wednesday, August 31, 2016 at 12:17:53 PM UTC-5, Tom M wrote:
>
> Not so much an question of if but more of when.   My free time is 
> constrained at the moment and I want to get the mpcnc project done before I 
> hit that.. (if you have the link to the agent implantation handy could you 
> post it.. or I can google it and post it at some point
>
> On Aug 31, 2016 11:37 AM, "John Morris" <j...@zultron.com> wrote:
>
>>
>>
>> On 08/30/2016 10:07 PM, Tom M wrote:
>>
>>>
>>> I plan to use machinekit for our cnc mill at the space.  I was thinking
>>> it would be a fun learning experience to get a MTconnect client going to
>>> get usage metrics
>>>
>>
>> If you get serious about MTConnect, I believe there's an agent 
>> implementation for EMC around somewhere that should be easily dusted off.
>>
>> John
>>
>>

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Re: [Machinekit] Rfid, Mtconnect and Machinkit.

[Tom M]

Not so much an question of if but more of when.   My free time is
constrained at the moment and I want to get the mpcnc project done before I
hit that.. (if you have the link to the agent implantation handy could you
post it.. or I can google it and post it at some point

On Aug 31, 2016 11:37 AM, "John Morris" <j...@zultron.com> wrote:

>
>
> On 08/30/2016 10:07 PM, Tom M wrote:
>
>>
>> I plan to use machinekit for our cnc mill at the space.  I was thinking
>> it would be a fun learning experience to get a MTconnect client going to
>> get usage metrics
>>
>
> If you get serious about MTConnect, I believe there's an agent
> implementation for EMC around somewhere that should be easily dusted off.
>
> John
>
>

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[Machinekit] Rfid, Mtconnect and Machinkit.

[Tom M]

I've been plugging along on my home project of using MPCNC (mostly printed 
cnc on a cramps boards) and not quite at the end of the tunnel but I'm 
getting there.

The makerspace I belong to (workshop88)  is starting up a CNC build club 
and we have a line on a nice small cnc that has drivers, encoders  but is 
missing a controller.   A member of our club was just telling us how he he 
visited  the Dallas maker space and have this really cool RFID system where 
only members who are trained can operate the cnc equipment.   All members 
have a RFID fob that allows them access to the space and enables machines 
for them if they have proper training.

I plan to use machinekit for our cnc mill at the space.  I was thinking it 
would be a fun learning experience to get a MTconnect client going to get 
usage metrics as well as integrating RFID reader of some sort to eventually 
do something like what the Dallas maker space has done.  I'm thinking of 
using a beaglebone although I may need something other than a cramps 
board..   The trained user access is an issue that many makerspaces need to 
contend with that if there was a open source solution I think would make 
machinekit appealing to them.  The more makerspaces that have and use 
machinekit  will be good for machinekit.   

I'm getting the impression you can do anything with machinekit.  A quick 
good search of machinekit  RFID  leads to very bad search results.
Linuxcnc and RFID , I came up with this  
https://sourceforge.net/p/emc/mailman/message/34962950/

I know they have tool holders with RFID technology embedded in them that 
contain tool type and offset information in them.  (Automatically feeding 
this info into a controller probably would probably have mistake proofing 
for the trained casual user from crashing the machine) 
The more I think about this, the more fun to be had..

If anyone has done anything like this, feel free to comment or point me to 
a link to look at.  
If it hasn't really been done, what would be the best path to take?   At 
this point, I know enough about machinekit to be  somewhat  dangerous but 
have much further to go.   I'm always open to learning something new.

Tom




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