Double bipod kinematic

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05 May 2009 07:21 #208 by step4linux
hi all,

I created a double bipod kinematic for a hotwire styro foam cutter.
Basicly it works and I guess I understand now the basic concepts.

Documentation (Integrator manual) provide a good starting point, some details could be added, e.g.
- what are the functions kinematicsHome, kinematicsType doing ? When are they called ?
- how to pass a parameter from INI file to kinematic ?

Some remaining issues:

- jogging UV is not possible, logged a bug yesterday (ID: 2786752)
- jogging in world mode does not allow me to switch to a "step" (e.g. 1 mm), the list box is greyed.
Is this also a bug ? or intentionally ? Do I have to add something in kinematic ?

regards, Gerd

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05 May 2009 09:00 #210 by alex_joni
Replied by alex_joni on topic Re:Double bipod kinematic
step4linux wrote:

Some remaining issues:

- jogging UV is not possible, logged a bug yesterday (ID: 2786752)
- jogging in world mode does not allow me to switch to a "step" (e.g. 1 mm), the list box is greyed.
Is this also a bug ? or intentionally ? Do I have to add something in kinematic ?


Jogging UV should get fixed (that's a bug probably).
Jogging incremental in world mode doesn't work with the current design.
We plan to redesign all of the joint/world setup in emc2, but who knows when that will happen..

Regards,
Alex

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05 May 2009 10:10 #212 by step4linux
alex_joni wrote:

Jogging incremental in world mode doesn't work with the current design.

thanks for clarification Alex,
I found there is another bug related to that:
You can switch to incremental jog in joint mode, then go to world mode. Incremental mode will be still active.
When you try to jog, motor starts but never stops. Could cause serious problems in some cases.

regards, Gerd

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11 May 2009 23:09 #239 by nikodell
Replied by nikodell on topic Re:Double bipod kinematic
step4linux could you post what you did to make this work I am trying to understand this but am not a programmer. I get the rough idea but am not certain how it actually works.

Post code and where you placed it?

Thanks.

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12 May 2009 08:18 #240 by step4linux
nikodell wrote:

step4linux could you post what you did to make this work I am trying to understand this but am not a programmer. I get the rough idea but am not certain how it actually works.

First you should understand the EMC2_Integrator_Manual, chapter 27, Kinematics in EMC2.
Kinematics modules may be compiled and installed by comp. See the comp(1).
You need to install the development extension of EMC2 as far as I remember.
Then you have the comp comand to compile and install a kinematics.
Once your kinematics is installed you must load it in hal: replace "loadrt trivkins" by "loadrt mykins", if the name of your kinematics c file is mykins.
You find a lot of kinematics examples in src/emc/kinematics in the original source code of EMC.

Gerd

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