Joint following error and congifuration for delta robot

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03 Mar 2017 12:31 - 03 Mar 2017 12:52 #88922 by Radek
Radek created the topic: Joint following error and congifuration for delta robot
Hi, I want to make a delta robot. I went through the stepconf, made simple programme in gcode and when I want to run simulation, there is "Joint 2 following error". I changed some parameters, like: ferror, min ferror, scale but it didn't help. What should I do ? What is more, in world mode I can't use "home axis". It's only possible in joint mode. Is it normal ?

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File Name: deltakins.c
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File Name: delta2.hal
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File Name: delta2.ini
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Last Edit: 03 Mar 2017 12:52 by Radek.
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03 Mar 2017 21:50 - 03 Mar 2017 21:56 #88963 by k-1
k-1 replied the topic: Joint following error and congifuration for delta robot
[AXIS_0]
TYPE = ANGULAR
HOME = 0.0
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 750.0
STEPGEN_MAXACCEL = 937.5
SCALE = 80.0
FERROR = 1
MIN_FERROR = .25
MIN_LIMIT = -200.0
MAX_LIMIT = 200.0
HOME_OFFSET = 0.0

[AXIS_1]
TYPE = ANGULAR
HOME = 0.0
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 750.0
STEPGEN_MAXACCEL = 937.5
SCALE = 80.0
FERROR = 1
MIN_FERROR = .25
MIN_LIMIT = -200.0
MAX_LIMIT = 200.0
HOME_OFFSET = 0.0

[AXIS_2]
TYPE = ANGULAR
HOME = 237.5  /********************* not same as axis1 and axis 0*****************/
MAX_VELOCITY = 100    /********************* not same as axis1 and axis 0*****************/
MAX_ACCELERATION = 200  /********************* not same as axis1 and axis 0*****************/
STEPGEN_MAXACCEL = 937.5
SCALE = 1  /********************* not same as axis1 and axis 0*****************/
FERROR = 10  /********************* not same as axis1 and axis 0*****************/
MIN_FERROR = 2  /********************* not same as axis1 and axis 0*****************/
MIN_LIMIT = -400  /********************* not same as axis1 and axis 0*****************/ <<<<<<<<<
MAX_LIMIT = 400.0  /********************* not same as axis1 and axis 0*****************/<<<<<<<<<<<<<<<
HOME_OFFSET = 0


if is delta with 3 only arms ..... must have the same parameter.
any how the line mark as "<<<<<<<<<<<<<<<<<" after comment in my experience if not use JA or newest master .... you must set very hight value .... because your kins not referring to degree limit but calculate it on cartesian space .... so not possible set a "real" degrees limit on machine.

If you use ja or master you can ....


regards
giorgio
Last Edit: 03 Mar 2017 21:56 by k-1.
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06 Mar 2017 14:57 - 06 Mar 2017 14:57 #89094 by Radek
Radek replied the topic: Joint following error and congifuration for delta robot
I made some changes and still have problem with joint 2

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File Name: puma_sim_6.hal
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File Name: deltaW.ini
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Last Edit: 06 Mar 2017 14:57 by Radek.
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07 Mar 2017 12:49 #89131 by andypugh
andypugh replied the topic: Joint following error and congifuration for delta robot
It might be easiest to modify an existing delta config to suit your actual machine.

There are sample configs for rotary and linear delta robots. Start LinuxCNC from the menu, then select either sim/axis/rdelta or sim/axis/ldelta and see if those behave as you expect (they won't move the hardware)

Homing is a joint-mode only thing. You home joints, not cartesian axes.
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07 Mar 2017 12:59 - 07 Mar 2017 13:01 #89133 by Radek
Radek replied the topic: Joint following error and congifuration for delta robot
I have linux 2.7.8 and there is no sample configuration for delta. I only found tripod, where type of axis is linear.
I think that this problem could have connection with capabilities of robot, maybe it can't move to given position?
Last Edit: 07 Mar 2017 13:01 by Radek.
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07 Mar 2017 13:59 #89136 by andypugh
andypugh replied the topic: Joint following error and congifuration for delta robot
For any kind of non-trivial kinematics I would strongly recommend moving to 2.8, even though it is technically a development version.
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08 Mar 2017 15:43 #89205 by Radek
Radek replied the topic: Joint following error and congifuration for delta robot
Ok, I did that. Need to recognize in this config. If I come accross the problem, I'll write ;)
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09 Mar 2017 08:52 #89241 by Radek
Radek replied the topic: Joint following error and congifuration for delta robot
@andypugh
What can I do with visualisation to avoid disappearing of delta? When I zoom out, there is only black monitor..
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09 Mar 2017 12:41 #89248 by andypugh
andypugh replied the topic: Joint following error and congifuration for delta robot
Can you see anything, with any of the Vismach configs?
It is possible that you have an OpenGL graphics problem.
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09 Mar 2017 13:06 #89250 by Radek
Radek replied the topic: Joint following error and congifuration for delta robot
I managed to fix the visualisations by altering the rotarydelta config, but there seems to be another problem. When running the simple gcode through AXIS the end effector seems to be following the path correctly, but when i look at the vismach model the robot seems to be making a curved path, rather than a horizontal or vertical lines. Also, at the end of the gcode instructions, the end effector runs outside of workspace.
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