RT component millkins_xyz never becomes ready
25 May 2021 10:14 #210210
by Stormholt
RT component millkins_xyz never becomes ready was created by Stormholt
Hello LinuxCNC
I am trying to use the RT component millkins_xyz. I have tried using it on two different instances of linuxcnc. Both are simulations though.
To install did the following:In hal:The result is forever waiting for the component to become ready.
what am i doing wrong?
bonus info: the millkins component have worked fine.
I am trying to use the RT component millkins_xyz. I have tried using it on two different instances of linuxcnc. Both are simulations though.
To install did the following:
#wget https://wiki.linuxcnc.org/uploads/millkins_xyz.c
#sudo halcompile --install millkins_xyz.c
Linking millkins_xyz.so
cp millkins_xyz.so /usr/lib/linuxcnc/modules/loadrt millkins_xyz
setp millkins_xyz .skew_y -0.005
setp millkins_xyz .skew_xz -0.005
setp millkins_xyz .skew_yz -0.005what am i doing wrong?
bonus info: the millkins component have worked fine.
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25 May 2021 12:21 #210217
by phillc54
Replied by phillc54 on topic RT component millkins_xyz never becomes ready
You would need to addf it to a thread.
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25 May 2021 12:35 #210219
by Stormholt
Replied by Stormholt on topic RT component millkins_xyz never becomes ready
Thank you for your response.
after loadrt and before the setp, does not solve the issue.
Addtionally there is no need for addf using trivkins or millkins, probably because the Kinematics components have no functions that needs to be attached to a thread.
addf millkins_xyzAddtionally there is no need for addf using trivkins or millkins, probably because the Kinematics components have no functions that needs to be attached to a thread.
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25 May 2021 21:34 #210264
by andypugh
Replied by andypugh on topic RT component millkins_xyz never becomes ready
The file needs to declare that it is ready, using the same name as it is loaded with.
If the file name and the comp_id inside the file don't match, then the system will never see the component as ready.
The issue is that the file is called "millkins_xyz" but the comp_id is "millkins"
If the file name and the comp_id inside the file don't match, then the system will never see the component as ready.
The issue is that the file is called "millkins_xyz" but the comp_id is "millkins"
comp_id = hal_init("millkins")
The following user(s) said Thank You: Stormholt
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26 May 2021 07:52 #210311
by Stormholt
Replied by Stormholt on topic RT component millkins_xyz never becomes ready
Brilliant, thanks andy
i decided to rename the file to millkinsxyz.c and refactor millkins to millkinsxyz
in hal:
Now linuxcnc will run, but i get this warning in the console, is it something to worry about? i have two y servo one each side of a bridge
i decided to rename the file to millkinsxyz.c and refactor millkins to millkinsxyz
in hal:
loadrt millkinsxyz
setp millkinsxyz.skew_y -0.005
setp millkinsxyz.skew_xz -0.005
setp millkinsxyz.skew_yz -0.005Now linuxcnc will run, but i get this warning in the console, is it something to worry about? i have two y servo one each side of a bridge
Warning: Forward kinematics must handle duplicate coordinate letters:yy
aletter_for_jnum guessing 0 --> X
aletter_for_jnum guessing 1 --> Y
Note:
Individual axis homing is not currently supported for
KINEMATICS_IDENTITY with duplicate axis letter <Y>
aletter_for_jnum guessing 2 --> Y
aletter_for_jnum guessing 3 -->ZPlease Log in or Create an account to join the conversation.
26 May 2021 08:02 #210313
by andypugh
You should probably set up your millkins to handle tandem joints. (probably in the same way as trivkins does) and to report the same kinstype as trivkins does. Trivkins defaults to "Identity" but for a tandem motor setup you probably need "Both", Then the machine will start up and home in "Joint mode" (0,1,2,3) and switch to "World Mode" (X, Y, Z) after homing.
Does your Millkins output the Y position into two joints?
Replied by andypugh on topic RT component millkins_xyz never becomes ready
Individual axis homing is not currently supported for
KINEMATICS_IDENTITY with duplicate axis letter <Y>
You should probably set up your millkins to handle tandem joints. (probably in the same way as trivkins does) and to report the same kinstype as trivkins does. Trivkins defaults to "Identity" but for a tandem motor setup you probably need "Both", Then the machine will start up and home in "Joint mode" (0,1,2,3) and switch to "World Mode" (X, Y, Z) after homing.
Does your Millkins output the Y position into two joints?
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26 May 2021 08:13 #210315
by Stormholt
Replied by Stormholt on topic RT component millkins_xyz never becomes ready
if i understand your question correctly, then no
using a skew value of -0.005 and using g53 g0 x1, y1, z-1
x feedback is 1 (because y subtracts and z adds)
yr(right) is 0.995 (corrected by z as it should be
yl(left) is -1 (not corrected)
using a skew value of -0.005 and using g53 g0 x1, y1, z-1
x feedback is 1 (because y subtracts and z adds)
yr(right) is 0.995 (corrected by z as it should be
yl(left) is -1 (not corrected)
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26 May 2021 08:28 #210319
by andypugh
Replied by andypugh on topic RT component millkins_xyz never becomes ready
I think you are using signal names? Those are specific to your config and so are not telling us very much.
Have you looked at the kins file itself? It is pretty easy to see what it does, but for a dual-motor gantry you need to put the right numbers in the joint outputs. (and return "Both" in KinematicsType)
Have you looked at the kins file itself? It is pretty easy to see what it does, but for a dual-motor gantry you need to put the right numbers in the joint outputs. (and return "Both" in KinematicsType)
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26 May 2021 08:51 #210321
by Stormholt
Replied by Stormholt on topic RT component millkins_xyz never becomes ready
Indeed they are specific to my config, however they are pins from a PID component that doesn't do anything in regards to pid.
Im sorry, i dont understand what is you mean by "kins file" and whether millkins output the position into two joints.
using trivkins i did use the kinstype BOTH, and i understand that is not supported with millkin_xyz, but it should be modified to do so.
Im sorry, i dont understand what is you mean by "kins file" and whether millkins output the position into two joints.
using trivkins i did use the kinstype BOTH, and i understand that is not supported with millkin_xyz, but it should be modified to do so.
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26 May 2021 09:39 #210325
by andypugh
Replied by andypugh on topic RT component millkins_xyz never becomes ready
by "kins file" I mean millkins.c (or whatever you have called it.)
linuxcnc.org/docs/2.8/html/motion/kinematics.html
linuxcnc.org/docs/2.8/html/motion/kinematics.html
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